Download MP-Series Integrated Linear Stage User Manual

User Manual
MP-Series Integrated Multi-axis Linear Stages
Catalog Numbers MPMA-xABxxxx-S1C, MPMA-xACxxxx-S1C, MPMA-xAPxxxx-S1C, MPMA-xCBxxxx-S1C,
MPMA-xCQxxxx-S1C, MPMA-xBExxxx-S2C, MPMA-xBIxxxx-S2C, MPMA-xBDxxxx-S2C
Important User Information
Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety
Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from
your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/) describes some
important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,
and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from
the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death,
property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the
consequence
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that
dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that
surfaces may reach dangerous temperatures.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Table of Contents
Preface
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Multi-axis Stage Safety
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Safety Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Heat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Vertical or Inclined Payload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
End of Travel Impacts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Air Freight Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Motor Model Identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Understanding Your Multi-axis Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Identifying Your Multi-axis Stage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Stage
Identifying the Components of Your Multi-axis Stage . . . . . . . . . . . . . . .
Identifying the Individual Linear Stages in Your Multi-axis Stage . . . .
Identifying the Components of Each Linear Stage. . . . . . . . . . . . . . . . . . .
Component Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maintenance Intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Lubrication Intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Carrier Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
20
20
23
24
24
24
Planning a Multi-axis Stage
Installation
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Safety Standards for Multi-axis Stage Installations . . . . . . .
UL Safety Standards for Linear Stage Installations. . . . . . . . . . . . . . .
Mounting Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
25
26
27
Mounting and Connecting the
MP-Series Integrated
Multi-axis Linear Stage
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unpacking, Handling, and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unpacking Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Store Packaging Material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Multi-axis Stage Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mount the Multi-axis Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mount Your Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect the Multi-axis Stage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Attach the Ground Strap and Interface Cables . . . . . . . . . . . . . . . . .
About the Air Option for Ball Screw Linear Stages . . . . . . . . . . . . . . . . .
About the Brake Option for Ball Screw Linear Stages . . . . . . . . . . . . . . .
Meeting UL Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
31
32
35
35
35
36
37
37
40
40
41
Linear Stage Connector Data
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Linear Stage Power and Feedback Connections . . . . . . . . . . . . . . . . . . . . . 43
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
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Table of Contents
Configuration Guidelines
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Required Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configure Your Linear Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configure RSLogix 5000 Software for Linear Stages with
Kinetix Multi-axis Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Axis Properties in RSLogix Software . . . . . . . . . . . . . . . . . . . . . . . .
Tuning Linear Stages with RSLogix 5000 Software . . . . . . . . . . . . . .
Configure Ultraware Software for Linear Stages with
Ultra3000 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Travel Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program Home to Torque for Kinetix Multi-axis Drives with
Linear Stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
47
48
Maintenance
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Recommended Maintenance Intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Lubricate the Bearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clean the Strip Seal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clean the Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
61
61
62
63
63
Removing and Replacing
Multi-axis Stage Components
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Carrier Assembly Removal Procedures . . . . . . . . . . . . . . . . . . . . . . .
Remove the Cable Carrier Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Carrier Assembly Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Remove the Strip Seal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Remove the Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Install the Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replace the Strip Seal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Install the Side Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replace the Rotary Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
66
66
67
69
69
70
70
71
72
73
Troubleshooting
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Troubleshooting During Commission and Startup . . . . . . . . . . . . . . . . .
Operational Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Evaluate the Direct Drive Linear Stage . . . . . . . . . . . . . . . . . . . . . . . . .
Evaluate the Ball Screw Linear Stage . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
76
76
77
77
49
49
53
58
60
60
Specifications and Dimensions MPMA-xABxxxxxx-xxx Product Specifications and Dimensions . . . . . 82
MPMA-xACxxxxxx-xxx Product Specifications and Dimensions . . . . .
MPMA-xAPxxxxxx-xxx Product Specifications and Dimensions . . . . .
MPMA-xCBxxxxxx-xxx Product Specifications and Dimensions . . . . .
MPMA-xCQxxxxxx-xxx Product Specifications and Dimensions . . . . .
MPMA-xBExxxxxx-xxx Product Specifications and Dimensions. . . . . .
MPMA-xBIxxxxxx-xxx Product Specifications and Dimensions . . . . . .
MPMA-xBDxxxxxx-xxx Product Specifications and Dimensions . . . . .
4
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
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86
89
92
94
96
98
Table of Contents
PTC Thermal Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Accessories
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interconnect Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Cable Dimensions, Pinout, and Schematic
(2090-XXNPMF-16Sxx) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Feedback Cable Dimensions, Pinout, and Schematic
(2090-XXNFMF-Sxx) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation, Maintenance, and Replacement Kits . . . . . . . . . . . . . . . . . .
103
103
103
105
106
Interconnect Diagrams
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Wiring Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Motor/Axis Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . 112
Home to Torque-level Example
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Applicable Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About Home to Torque-level Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Bipolar Torque Limit Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . .
Disable Soft Overtravel Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ladder Code Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Potential for Position Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting Bolts and Torque
Values
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
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115
116
118
119
119
126
5
Table of Contents
Notes:
6
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Preface
Read this preface to familiarize yourself with the rest of the manual.
About This Publication
This manual provides detailed installation instructions for mounting, wiring,
maintaining, and troubleshooting your MP-SeriesTM multi-axis integrated linear
stage. For ease of use, going forward, when referring to the entire assembly, it may
be called a multi-axis stage. Each axis of a multi-axis stage is a MP-Series
integrated linear stage. When referring to single axis it will be called a linear stage.
Who Should Use This
Manual
This manual is intended for engineers or technicians directly involved in the
installation, wiring, and maintenance of multi-axis stages. Any person that
teaches, operates, maintains, or repairs these multi-axis stages must be trained and
demonstrate the competence to safely perform the assigned task.
If you do not have a basic understanding of multi-axis stages, contact your local
Allen-Bradley/Rockwell Automation sales representative for information on
available training courses before using this product.
Read this entire manual before you attempt to install a multi-axis stage into your
machine. Doing so will familiarize you with the multi-axis stage components and
their relationship to each other and the system.
After installation, check all system parameters to be sure you have configured
your Logix control system properly.
Be sure to follow all instructions carefully and pay special attention to safety
concerns.
Additional Resources
The following documents contain additional information concerning related
Allen-Bradley products:
Resource
Description
Kinetix Motion Control Selection Guide, publication GMC-SG001
Information about Kinetix products
Kinetix 2000 Multi-axis Servo Drive User Manual, publication
How to install, setup, and troubleshoot a Kinetix 2000 drive
Kinetix 6000 Multi-axis Servo Drive User Manual, publication
How to install, setup, and troubleshoot a Kinetix 6000 drive
ControlLogix Multi-Vendor Interface Module Programming
Reference, publication 1756-RM04
More detailed information on the use of ControlLogix motion features and application
examples
ControlLogix SERCOS interface Module Installation
Instructions, publication 1756-IN572
3, 8, or 16-Axis SERCOS interface module installation instructions
Logix 5000 Controllers Motion Instructions Reference Manual,
publication 1756-RM007
The instructions needed to program a motion application
ControlLogix System User Manual, publication 1756-UM001
Information on configuring and troubleshooting your ControlLogix system
Logix5000 Motion Modules User Manual, publication LOGIXUM002
Information on configuring and troubleshooting ControlLogix motion modules
2093-UM001
2094-UM001
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
7
Preface
Resource
Description
CompactLogix SERCOS Interface Module Installation
Instructions, publication 1768-IN005
Information on configuring and troubleshooting a CompactLogix motion module
16-Axis PCI SERCOS Interface Card Installation Instructions,
publication 1784-IN041
SoftLogix SERCOS interface PCI card installation instructions
SoftLogix Motion Card Setup and Configuration Manual,
publication 1784-UM003
Information on configuring and troubleshooting your SoftLogix PCI card
System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001
Information, examples, and techniques designed to minimize system failures caused
by electrical noise
Kinetix Safe-off Feature Safety Reference Manual, publication
GMC-RM002
Information, examples, and techniques to utilize safety-related features of Kinetix
drives
Motion Analyzer, version 4.4 or later, is available at http://
Drive and motor sizing with application analysis software
Safety Guidelines for the Application, Installation, and
Maintenance of Solid State Controls, publication SGI-IN001
Characteristics, application, installation, and maintenance of solid state controls
Rockwell Automation Product Certification Website, publication
available at http://www.ab.com
For declarations of conformity (DoC) currently available from Rockwell Automation
National Electrical Code. Published by the National Fire
Protection Association of Boston, MA.
An article on wire sizes and types for grounding electrical equipment
Allen-Bradley Industrial Automation Glossary, publication AG-
A glossary of industrial automation terms and abbreviations
Kinetix Accelerator Toolkit Brochure, publication MOTION-
Information about the Kinetix Accelerator Toolkit
www.ab.com/motion/software/analyzer.html
7.1
BR004
Kinetix Accelerator Toolkit Quick Start, publication IASIMP-
QS002
Ultra3000 Digital Servo Drives Installation Manual, publication
2098-IN003
How to install, setup, and troubleshoot an Ultra 3000 drive
Ultra3000 Digital Servo Drives Integration Manual, publication
2098-IN005
Home to Torque-level Example Application Notes, publication
Describes RSLogix 5000 homing routines
Kinetix 2000 Multi-axis Servo Drive Release Notes, publication
2093-RN001
Enhancements, known anomalies, and restrictions for your Kinetix 2000 drive firmware
used with RSLogix 5000 software, version 16
2094-RN007
Kinetix 6000 Multi-axis Servo Drive Release Notes, publication
Enhancements, known anomalies, and restrictions for your Kinetix 6000 drive firmware
used with RSLogix 5000 software, version 16
Motion Modules in Logix5000 Control Systems User Manual,
publication LOGIX-UM002
Information on configuring and troubleshooting your ControlLogix and CompactLogix
SERCOS interface modules, and using the home to torque-level sequence
MOTION-AT001
You can view or download publications at
http://literature.rockwellautomation.com. To order paper copies of technical
documentation, contact your local Rockwell Automation distributor or sales
representative.
8
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter
1
Multi-axis Stage Safety
Introduction
This chapter describes the safety issues encountered while using multi-axis stages
and the precautions you can take to minimize risk. Potential hazards discussed
here are identified by labels affixed to the device.
Topic
Page
Safety Labels
10
Clearances
12
General Safety
12
Heat
12
Vertical or Inclined Payload
12
End of Travel Impacts
12
Air Freight Restrictions
12
Standards
13
Motor Model Identification
13
IMPORTANT
Any person that teaches, operates, maintains, or repairs these multiaxis stages must be trained and demonstrate the competence to
safely perform the assigned task.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
9
Chapter 1
Multi-axis Stage Safety
Safety Labels
Title
Location
Danger - Pinch
Points and Heavy
Object
A
To prevent injury and damage to the linear stage, review the safety labels and the
details and location for each table before using the linear stage. The stages are
shown individually and un-stacked for clarity.
Label
Details
DANGER
PINCH POINTS
Moving parts inside
Lockout/Tagout
LIFT HAZARD
Two Person Lift
or carry required
Danger - Hazardous
Voltage
B
DANGER
HAZARDOUS
VOLTAGE
The multi-axis stages presents a muscle strain hazard if one person
attempts to lift it. When attempting to move the linear stage use a
three-person-lift to prevent personal injury or damage to the multi-axis
stages.
To Installer - There exists a Crush and Cut hazard while installing the
multi-axis stages. The multi-axis stages weigh approx. 36.1 …90.3 kg
(79.4…198.6 lb).
To User - The Pinch Point label identifies a moving object hazard, caused
by the movement of the carriage on the multi-axis stages Never put
fingers, hands, or limbs near the multi-axis stages while running motion
commands. Before executing any motion command, check that all
maintenance tools have been removed from multi-axis stages.
All types of multi-axis stages, present a pinch point hazard. This hazard
may occur if fingers or hands come between the end cap and a moving
carriage. Always install shipping clamps when attempting to lift multiaxis stages. Lift the multi-axis stages from the base of the lower axis
and keep you fingers away from the strip seals.
The Hazardous Voltage label identifies the junction box as a hazardous
voltage area of the multi-axis stages. To avoid injury be sure to follow
Lockout-Tagout procedures before attempting maintenance on these
multi-axis stages.
LOCKOUT AND
TAGOUT POWER
BEFORE SERVICING
Danger - Strong
Magnets
C
DANGER
MAGNETIC FIELDS
LOCATED IN THIS AREA
Can be harmful to
pacemakers and other
sensitive equipment
The Strong Magnets label identifies non-ionizing radiation found in the
multi-axis stages. Magnet channels inside the multi-axis stages are
constructed with strong magnets. Strong magnets can disrupt the
functionality of automatic implantable cardioverter defibrillators (AICD);
people with a pacemaker should not work near the linear stage.
Maintenance personnel working on the multi-axis stages should avoid
the use of metallic tools and secure items such as badge clip and other
personal effects that could be attracted by the strong magnets. Strong
magnets can erase magnetic media. Never let credit cards or floppy
disks contact or come near the multi-axis stages.
Do Not Lift by
Junction Box
D
Do not attempt to move the multi-axis stages by grasping the cable
junction box. Moving the multi-axis stages in this manner will damage
the multi-axis stages and create a pinch or crush hazard. The junction
box is attached to the carriage, which is free to move. Lifting the multiaxis stages in this manner will allow uncontrolled movement of the
heavy base. Always install shipping clamps, use a three-person lift, and
grasp the multi-axis stages by the base of the lower stage at the end
caps.
Stay Clear
E
Do not put hands or objects on the linear stage covers. Doing so could
deform the cover and damage the linear stage, causing excessive wear
on the cover supports or scraping noises when the linear stage is in
motion.
Sharp Edges
F
Always remove strip seals before removing the top or side covers. If it
becomes necessary to remove the top or side covers or change the strip
seal, exercise care when working near or on the strip seal. The edges of
the strip seal are sharp and can cut if accidentally hit or if handled
inappropriately.
10
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Multi-axis Stage Safety
Chapter 1
Figure 1 - Label Locations for Direct Drive Linear Stages
A
F
E
Product
Nameplate
ER
DANG
POINTS
PINCHparts inside
Moving /Tagout
Lockout
ZARD
LIFT HA son Lift
d
Two Per
require
or car ry
D
M
LOAG
CANE
Ca TETIC
pan be D INFIE
se cemaha THLD
S
ns
iti ke rm IS AR
ve rs fu
eq an l to EA
uipd ot
me he
nt r
A
N
GE
R
ER
DANG
OUS
HAZARDE
VOLTAGAND
LOCKOUTPOW ER
TAGOUTSERVICING
BEFORE
C
B
F
D
Figure 2 - Label Locations for Ball Screw Linear Stages
A
D
ER
DANG
POINTS
PINCHparts inside
Moving /Tagout
Lockout
F
Product
Nameplate
ZARD
LIFT HA son Lift
Two Perrequired
or carry
M
PRAXIM
ES
27 SUUM
40 0 Kp RE
PS a
I
F
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
11
Chapter 1
Multi-axis Stage Safety
Clearances
Install the multi-axis stage to avoid interference with the building, structures,
utilities, other machines and equipment that may create a trapping hazard of
pinch points.
Dress cables using the Clearance Requirements on page 29 as a guide. Do not
cross the path of motion or interfere with the cable carrier motion.
General Safety
Linear stages are capable of sudden and fast motion. Rockwell Automation, Inc. is
not responsible for misuse, or improper implementation of this equipment.
Heat
When the stages are running at their maximum rating, the temperature of the
carriage can reach 75 ºC (167 ºF).
Vertical or Inclined Payload
A direct drive (linear motor driven) linear stage mounted vertically or on an
incline will not maintain position when the power is removed. Under the
influence of gravity the carriage and its payload will fall to the low end of travel.
Design engineers should allow for this by using a ball screw driven linear stage
with power-off holding brake, or designing in controlled power down circuits or
mechanical controls to prevent the linear stage and its payload from being
damaged when the power fails.
End of Travel Impacts
The internal bumpers of the linear stages are designed to take a large impact from
uncontrolled motion. The table on page 60 lists the energy that the bumpers can
absorb before risking damage to the linear stage. The carriage payload should be
secured to the carriage such that it will not sheer off in the event of an impact in
excess of the bumper ratings.
The bolts securing the end caps will not be able to sustain multiple impacts and
may eventually sheer. Correct the cause of the uncontrolled motion that caused
the impact before continuing the use of the linear stage.
Air Freight Restrictions
When air freighting multi-axis stages, special preparations and precautions must
be taken. The following information outlines the basic requirements at the
publication date of this document. However, regulations are subject to change
and additional area or carrier restrictions may be imposed. Always check with
your carrier or logistics specialist regarding current local, regional, and national
transportation requirements when shipping this product.
The 200 mm or a 250 mm direct drive linear stages (catalog numbers MPASA8xxxE-ALMx2x, MPAS-B8xxxF-ALMx2x, MPAS-A9xxxK-ALMx2x, or
MPAS-B9xxxL-ALMx2x,) contain magnetized material, as classified by
12
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Multi-axis Stage Safety
Chapter 1
International Air Transport Association (IATA) Dangerous Goods Regulations.
An IATA trained individual must be involved when shipping this product via
domestic or international air freight. Packing Instruction 902 provides
information regarding the preparation of this product for air transportation.
Follow these regulations for general marking and labeling requirements, the
application of specific Magnetized Material Handling Labels, and instructions for
preparing the Shipper's Declaration for Dangerous Goods.
As a minimum, refer to the following IATA Dangerous Goods Regulations:
• Subsection 1.5: Training
• Subsection 3.9.2.2: Classification as Magnetized Material
• Subsection 4.2: Identification as UN 2807, Magnetized Material, Class 9,
Packing Instruction 902
• Subsection 7.1.5: Marking
• Subsection 7.2: Labeling
• Subsection 7.4.1: Magnetized Material Label
• Section 8: Shipper's Declaration for Dangerous Goods
When shipped via ground in the United States, these products are not considered
a U.S. D.O.T. Hazardous Material and standard shipping procedures apply.
Standards
Standards and requirements applicable to this product include, but are not
limited to, the following:
• ANSI/RIA R15.06, Industrial Robots and Robot Systems Safety
Requirements - Teaching Multiple Robots
• ANSI/NFPA 79, Electrical Standard for Industrial Machinery
• CSA/CAN Z434, Industrial Robots and Robot Systems- General Safety
Requirements
• EN60204-1, Safety of Machinery. Electrical Equipment of Machines
• UL 1740, UL Standard for Safety Industrial Robots and Robotic Equipment
Motor Model Identification
The nameplate on ball screw driven linear stages lists the specific MP-Series servo
motor model used.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
13
Chapter 1
Multi-axis Stage Safety
Notes:
14
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter
2
Understanding Your Multi-axis Stage
Introduction
Use this chapter to become familiar with the multi-axis stage components, its
maintenance needs, and its configuration.
Topic
Page
Identifying Your Multi-axis Stage
16
Identifying the Components of Your Multi-axis Stage
17
Identifying the Individual Linear Stages in Your Multi-axis Stage
20
Identifying the Components of Each Linear Stage
20
Maintenance Intervals
24
Bulletin MPMA multi-axis stages are comprised of custom Bulletin MPAS
stages. The MPAS are custom due to the different cable management
requirements for stacked-stage assemblies. Additionally, the Bulletin MPAS
individual stage identifier embedded in the Bulletin MPMA catalog number does
not correspond directly to the Bulletin MPAS catalog number used in the system
combinations.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
15
Chapter 2
Understanding Your Multi-axis Stage
Identifying Your Multi-axis
Stage
MPMA - xxxxxxxxx - xxx
Your multi-axis stage is constructed using linear stages and a cable carrier module
assembly. Use the following key to identify your multi-axis stage and its options.
For details on an individual stages refer to Identifying the Individual Linear
Stages in Your Multi-axis Stage.
Cable Termination(1)
C = Cable track module with IP67 circular DIN-style connectors (applies to all Bulletin MPMA stages)
Limits and Brake Options
x-axis
y-axis
z-axis
1 = no brake, no limits 1 = no brake, no limits
1 = none
2 = no brake, no limits 2 = none
2 = 24V brake, no limits (ball screw only)
Protection Options (Same as Bulletin MPAS Options)(1)
S= Covered with strip seals
Z axis 10s of mm
0 = 0 mm
2 = 20
4 = 40 mm 6 = 60 mm 8 = 80 mm
1 = 10 mm 3 = 30
5 = 50 mm 7 = 70 mm 9 = 90 mm
Z axis 100s of mm
A = 0 mm C = 200 mm E = 400 mm
B = 100 mm D = 300 mm F = 500 mm
Y axis 10s of mm
0 = 0 mm
2 = 20 mm
1 = 10 mm 3 = 30 mm
Y axis 100s of mm
A = 0 mm C = 200 mm
B = 100 mm D = 300 mm
4 = 40 mm 6 = 60 mm
5 = 50 mm 7 = 70 mm
8 = 80 mm
9 = 90 mm
E = 400 mm G = 600 mm
F = 500 mm
X axis 10s of mm
0 = 0 mm
2 = 20 mm 4 = 40 mm 6 = 60 mm 8 = 80 mm
1 = 10 mm 3 = 30 mm 5 = 50 mm 7 = 70 mm 9 = 90 mm
X axis 100s of mm
A = 0 mm C = 200 mm E = 400 mm G = 600 mm I = 800 mm
B = 100 mm D = 300 mm F = 500 mm H = 700 mm J = 900 mm
Bulletin MPAS Linear Stage
x-axis (base)
y-axis (secondary)
B = MPAS-x9xxxK/L-ALMSX
B = MPAS-x8xxxF/E-ALMS2X
C = MPAS-x9xxxK/L-ALMSX
C = MPAS-x9xxxK/L-ALMS2X
D = MPAS-x9xxxK/L-ALMS2X
D = none
E = MPAS-x8xxxF/E-ALMS2X
E = none
I = MPAS-x8xxx2-V20S2X
I = none
P = MPAS-x8xxx2-V20S2X
P = MPAS-x8xxx2-V20S2X
Q = MPAS-x9xxx2-V20S2X
Q = MPAS-x8xxx2-V20S2X
Configuration
A = Center Stacked XY
B = Center Stacked XZ
C = Cantilever Stacked XY (Left Side Cantilever)
Voltage(1)
A = 230V Motors
B = 460V Motors
Series Type
MA = Multi-axis
Bulletin Number
(1) Applies to all stages.
16
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
z-axis (secondary)
B = none
C = none
D = MPAS-x6xxx2-V20S4X
E = MPAS-x6xxx2-V20S4X
I = MPAS-x6xxx2-V20S4X
P = None
Q = None
Understanding Your Multi-axis Stage
Identifying the Components
of Your Multi-axis Stage
Chapter 2
Use the diagrams and descriptions to identify the unique components of the
multi-axis stage then refer to Identifying the Components of Each Linear Stage
for details of the each linear stage component.
Figure 3 - Components of XY Center Stacked Multi-axis Stage
(MPMA- xAxxxxxxx-SxC shown)
Y-Axis
X- Axis
6
Refer to Component Descriptions beginning on page 23 for the name and
description of each numbered item.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
17
Chapter 2
Understanding Your Multi-axis Stage
Figure 4 - Components of XZ Center Stacked Multi-axis Stage
(MPMA-xBxxxxxx-SxC shown)
Z-Axis
X-Axis
6
Refer to Component Descriptions beginning on page 23 for the name and
description of each numbered item.
18
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Understanding Your Multi-axis Stage
Chapter 2
Figure 5 - Components of XY Cantilevered Stacked (Left Side Cantilever) Multi-axis
Stages
(MPMA- xCxxxxxxx-SxC shown)
6
Y-Axis
X- Axis
Refer to Component Descriptions beginning on page 23 for the name and
description of each numbered item.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
19
Chapter 2
Understanding Your Multi-axis Stage
Identifying the Individual
Linear Stages in Your
Multi-axis Stage
Use the following key to identify each linear stage and its options.
MPAS - x x xxx x - x xx x x x
Cable
X = Cable carrier module identified at multi-axis level
Brake
2 = No brake
4 = 24V DC brake
Cover
S = Covered with strip seals (IP30 protection)
Screw Lead/Direct Drive
20 = 20.0 mm/rev (0.79 in./rev) ball screw
LM = Direct drive linear motor
Feedback
V = Multi-turn high resolution encoder (absolute feedback) 128 cycles/rev
A = 5 micron resolution incremental magnetic linear encoder
Mechanical Drive/Motor Type
2 = Ball screw/MPLS-x220H-VJ4xxx
B = Direct drive/LZ-030-T-240-D
E = Direct drive/LC-050-200-D
F = Direct drive/LC-050-200-E
K = Direct drive/LC-075-200-D
L = Direct drive/LC-075-200-E
Stroke Length
xxx = xxx cm
Frame Size
6 = 150 mm (5.9 in.) base width
8 = 200 mm (7.9 in.) base width
9 = 250 mm (9.9 in.) base width
Voltage Rating
A = 230V AC
B = 460V AC
Series Type
AS = Actuator, linear stage
Bulletin Number
Identifying the Components
of Each Linear Stage
Use the diagrams and descriptions to identify individual components of each
linear stages.
Not all components are part of the direct drive or the ball screw linear stage. For
example, the direct drive linear stage does not have component - Rotary Motor
and the ball screw linear stage does not have component 15 - Magnet Track.
20
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Understanding Your Multi-axis Stage
Chapter 2
Figure 6 - Components of the Direct Drive Linear Stage (MPAS-xxxxxxx-ALMx2x)
4
3
9 (4x)
2 (4x)
7 (2x)
5 (2x)
6
8 (4x)
1
14
15
10
11
12 (4x)
13 (2x)
Refer to Component Descriptions beginning on page 23 for the name and
description of each numbered item.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
21
Chapter 2
Understanding Your Multi-axis Stage
Figure 7 - Components of the Ball Screw Linear Stage (MPAS-xxxxxx-VxxSxx)
4
3
9 (4x)
2 (4)
5 (2)
7 (2)
19
8 (4)
20
1
12 (4)
13 (2)
18
17
21 (2)
16
Refer to Component Descriptions beginning on page 23 for the name and
description of each numbered item.
22
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Understanding Your Multi-axis Stage
Chapter 2
Component Descriptions
Component
Number
Component
Description
1
Ground Screw and Ground
Label
Use the labeled M5 x 0.8 - 6H ground screw to connect the linear stage to a facility safety ground.
2
Bearing Lubrication Ports
These capped ports provide access to the linear bearings without dismantling the linear stage.
3
Carriage
This is where your load mounts. The carriage has mounting holes and pilot guide holes.
4
Top Cover
This protective cover has magnetic edges that keep the upper edge of the strip seals in place.
5
Side Cover
These protective covers have magnetic edges that keep the lower edge of the strip seal in place.
6
Cable Track Module
This assembly may be a single or double track unit. It contains the power and I/O wiring for base linear
stage and the secondary axis. Multi-axis stages with direct drive base and secondary axes will have a
double cable carrier on the base axis and a single carrier on the secondary axis. The cable carrier
replacement modules come as a complete unit that service the base and secondary axes. It facilitates
quick and easy replacement of this wear item and is available as a spare part.
7
Stainless Steel Strip Seal
These replaceable flexible stainless steel strips permit the linear stage to move while isolating the
internal mechanism of the linear stage from the users environment. Keep the strip seals clean, and never
apply a lubricant as this attracts contaminants.
8
Seal Guide
These guides allow the strip seal to move smoothly around the carriage of the linear stage.
9
Seal Strip Clamps
These clamps hold the strip seal in place. When replacing the seal strips, they are used to position it so it
lays smooth against the top and side covers.
10
Magnetic Encoder
Readhead
This encoder readhead has a 5 micron resolution and very low maintenance needs.
11
Encoder Strip
Part of the encoder system that provides magnetic encoded polarities to the encoder readhead.
12
Bearing
These support bearings guide the carriage on the bearing rail and require periodic lubrication.
13
Bearing Rail
These rails provide the linear track that the carriage assembly rides on, they should be kept free of debris.
14
Motor Coil
This coil is part of the two piece linear motor. When it is excited by a drive, it generates magnetic forces
which interact with the magnet track creating motion. LC motor coil shown here. LZ motor coil is a
different configuration but works the same way.
15
Magnet Track
This track of powerful static magnets is the other half of a linear motor. LC magnet track shown. LZ has a
magnet channel but works the same way.
16
Ball Nut Lubrication Port
This capped port provide access to the ball nut without dismantling the linear stage.
17
Ball Screw Shaft
This is part of the mechanical power system on ball screw linear stages. This shaft should be kept free of
debris.
18
Ball Nut
Transfers mechanical power from the ball screw shaft to the carriage. It requires periodic lubrication.
19
Side Cover Support
These supports stabilize the side cover on long linear stages.
20
Rotary Motor
A bulletin MPLS rotary motor drives the ball screw mechanism. It is a specially configured MP-Series
rotary motor, and is available as a spare part.
21
Air Port
Provides an external air supply connection for a ball screw linear stage. You can apply a maximum of 270
kpa (40 psi) pressurized air to minimize the ingress of particulates from a dusty environment.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
23
Chapter 2
Understanding Your Multi-axis Stage
Maintenance Intervals
This section lists typical maintenance intervals for your linear stage, and
references the section where maintenance procedures are described.
IMPORTANT
The suggested time period for re-lubrication is only a starting point.
You should determine the frequency of re-lubrication that is best
suited to your application as an application's environment, motion
profile, and duty cycle can effect the re-lubrication time period
required.
Lubrication Intervals
Refer to the Maintenance chapter beginning on page 61 for lubrication
procedures. Recommended lubrication intervals are:
• direct drive linear stages every 6 months or 2500 km (1550 mi) of travel,
whichever comes first
• ball screw linear stages every 6 months or 150,000,000 revolutions,
whichever comes first
Cable Carrier Replacement
The cable carrier module assembly has a useful lifetime of approximately
10,000,000 cycles.
Refer to the Removing and Replacing Multi-axis Stage Components chapter
beginning on page 65 for removal and replacement procedures.
24
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter
3
Planning a Multi-axis Stage Installation
Introduction
Use this chapter to establish a suitable environment and physical location for your
multi-axis stage.
Topic
Page
General Safety Standards for Multi-axis Stage Installations
25
UL Safety Standards for Linear Stage Installations
26
Mounting Restrictions
27
Environmental Factors
27
Clearance Requirements
29
Requirements to be met when mounting your multi-axis stage include the
following.
General Safety Standards for Multi-axis Stage Installations
General safety standards and requirements include, but are not limited to, the
following:
· ANSI/RIA R15.06, Industrial Robots and Robot Systems Safety
Requirements - Teaching Multiple Robots
· ANSI/NFPA 79, Electrical Standard for Industrial Machinery
· CSA/CAN Z434, Industrial Robots and Robot Systems- General Safety
Requirements
· EN60204-1, Safety of Machinery. Electrical Equipment of Machines
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
25
Chapter 3
Planning a Multi-axis Stage Installation
UL Safety Standards for Linear Stage Installations
All linear stage installations should follow Underwriters Laboratories standard
UL 1740 - Standard for Safety for Robots and Robotic Equipment.
UL 1740 covers robots and robotic equipment rated at 600V or less and intended
for installation in accordance with the National Electrical Code, ANSI/NFPA
70. Because end user installation of a robot and robotic equipment may vary for
each user application, guidelines for end-product installation may be evaluated to
the applicable sections of ANSI/RIA R15.06, Standard for Industrial Robots and
Robot Systems-Safety Requirements. Portions of the requirements in this
standard have been excerpted from the Robotic Industries Association's (RIA)
Standard for Industrial Robots and Robot Systems – Safety Requirements,
ANSI/RIA R15.06.
ANSI/RIA R15.06 specifically requires two safety features be in the design.
· A Power Enable light must be installed that meets all of these conditions:
– Must be amber or yellow in color.
– Must not have a screw type base or contain a filament.
– Must be visible from all approaches to the work cell.
– Must illuminate to indicate that drive power is available and motion is
possible.
For example, an Allen-Bradley 855T Control Tower Stack Light may be
used with socket mount status indicators. Incandescent bulbs are not
permitted.
· Provide a means of emergency movement without drive power available.
This should include a provision for a brake release on a ball screw linear
stage.
For example, refer to the Emergency Brake Release for Ball Screw Linear
Stage Example diagram on page 41.
Unique features or functions associated with the robotic application, not
specifically addressed in UL 1740, shall also be evaluated to other applicable
standards and requirements. These may include, but are not limited to the
following:
· UL 3101-1, Electrical Equipment for Laboratory Use; Part 1: General
Requirements
· UL 544, Medical and Dental Equipment
· UL 79, Power Operated Pumps for Petroleum Product Dispensing
Systems
· ANSI/NFPA 79, Electrical Standard for Industrial Machinery
26
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Planning a Multi-axis Stage Installation
Chapter 3
Mounting Restrictions
When locating your multi-axis stage include the following:
· Environmental Factors
· Mounting Surface Restrictions
· Mounting Orientations for Center and Cantilever Multi-axis Stage XY
(MPMA-xA/Cxxxxxx-SxC)
· Mounting Orientations for Center Stacked XZ Multi-axis Stage (MPMAxBxxxxxx-SxC)
· Clearance Requirements
Environmental Factors
Factor
Applicability
Temperature
The linear stage does not require any special cooling considerations. Avoid
mounting it near any heat generating objects, such as a heat register.
Sustained average operating temperature should not be greater than 40 °C
(104 °F), nor less than 0 °C (32 °F).
Humidity
Avoid excessive humidity that can cause condensation on metal surfaces
and consequently stage corrosion. The maximum permissible
noncondensing humidity is 80% relative.
Access and
interference
When possible, the system should be located where sufficient working
space is available to perform periodic maintenance.
Avoid installing where a trapping hazard or pinch point occurs as a result of
interference with the building, structures, utilities, and other machines and
equipment.
Dust and airborne
contaminants
Avoid placing the stage in areas where excessive dust or other airborne
contaminants are present. Chemical fumes or vapors can cause damage to
internal components.
Vibration
The linear stage should be installed in a location free of excessive vibration.
Ambient light
Sufficient light should be readily available to enable inspection, testing,
and other functions to be performed on the stage.
Mounting Surface Restrictions
Surface
Restriction
Flatness
X-axis or base stage must be bolted or clamped to a flat, stable, and rigid
surface along its entire length. Flatness deviation in the mounting surface
should be less than or equal to 0.025 mm over a 300 x 300 mm (0.001 in.
over a 12 x 12 in.) area.
Flatness should be maintained during operation of the linear stage.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
27
Chapter 3
Planning a Multi-axis Stage Installation
Mounting Orientations for Center and Cantilever Multi-axis Stage XY
(MPMA-xA/Cxxxxxx-SxC)
Mounting
Orientation
Restriction
Ceiling - inverted
surface
A ceiling mount (inverted on a horizontal surface) is not recommended.
Stages mounted in this orientation are subject to premature cable carrier
failure.
Wall - horizontal
vertical or incline
Use only center stacked XZ multi-axis stage for wall mounting applications.
Mounting Orientations for Center Stacked XZ Multi-axis Stage (MPMAxBxxxxxx-SxC)
28
Mounting
Orientation
Restriction
Ceiling - inverted
surface
A ceiling mount (inverted on a horizontal surface) is not recommended.
Stages mounted in this orientation are subject to premature cable carrier
failure.
Wall - horizontal
vertical or incline
Mount center stacked XZ multi-axis stages with the ball screw driven stage
in the Z-axis only. Application of the holding brake through the operating
program settings prevents uncontrolled motion.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Planning a Multi-axis Stage Installation
Chapter 3
Clearance Requirements
The figures depict the minimum clearances for each multi-axis stage type.
Power and feedback cables may impose additional clearance requirements. Refer
to Interconnect Cables on page 103 for connector and bend radius requirements.
Figure 8 - Minimum Clearance Requirements
MPMA-xBxxxxxx-SxC
Additional Clearance
Is Required for
Power and Feedback Cables.
3.2 mm (0.125 in.) Clearance around entire stage,
ballscrew stages require 101 mm (4 in.) at motor end
for connector, except for wall mount stages.
419 mm (16.5 in.) Clearance at all ends for
lubrication access, measured from stage base.
MPMA-xA/Cxxxxxx-SxC
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
29
Chapter 3
Planning a Multi-axis Stage Installation
Notes:
30
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter
4
Mounting and Connecting the MP-Series
Integrated Multi-axis Linear Stage
Introduction
This chapter provides unpacking, handling, and mounting instructions.
Topic
Page
Unpacking, Handling, and Inspection
31
Multi-axis Stage Storage
35
Mount the Multi-axis Stage
35
Mount Your Application
36
Connect the Multi-axis Stage
37
About the Air Option for Ball Screw Linear Stages
40
About the Brake Option for Ball Screw Linear Stages
40
Meeting UL Installation Standards
41
IMPORTANT
Unpacking, Handling, and
Inspection
Any person that teaches, operates, maintains, or repairs these multiaxis stages must be trained and demonstrate the competence to
safely perform the assigned task.
Inspect packaging to make certain no damage has occurred in shipment. Any
damage or suspected damage should be immediately documented. Claims for
damage due to shipment are usually made against the transportation company.
Contact Rockwell Automation immediately for further advice.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
31
Chapter 4
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
Be sure the information listed on the purchase order correlates to the information
on the packing slip for your linear stage and its accessories. Inspect the assemblies
and confirm, if applicable, the presence of specified options.
ATTENTION: Direct drive linear stages contain powerful
permanent magnets that require extreme caution during
handling. Do not disassemble the linear stage. The forces
generated by permanent magnets are very powerful and can
cause bodily injury.
Persons with pacemakers or automatic implantable cardiac
defibrillators (AICD) should maintain a minimum distance of 0.3 m
(12 in.) from magnet assemblies.
Additionally, unless absolutely unavoidable, a minimum distance of
1.5 m (5 ft) must be maintained between magnet assemblies and
other magnetic or ferrous composite materials. Calipers,
micrometers, laser equipment, and other types of instrumentation
must be nonmetallic.
Unpacking Guidelines
Use an overhead lifting device for removing the platform from the shipping crate
and lift platform by eyebolts.
ATTENTION: Keep the multi-axis stage horizontal, cantilever
multi-axis stages are top-heavy and will fall over if unsupported. To
minimize the possibility of it tipping keep the multi-axis stage
clamped to the platform until you are ready to install it.
WARNING: Check that the load ratings of the lifting device,
slings, hooks and shackles have a lifting capacity rated equal to or
greater than the load. Failure to do so may result in personal injury
and equipment damage. For your system's specific weight, refer to
shipping weights on the packing slip.
Do not pass ropes or cables through the eye bolts in the deck. Use slings with
load-rated hooks or shackles.
Lift the system a minimal amount to verify that it is properly secured and
balanced before moving the equipment further. The lift points on the deck may
not be equidistant from the center of gravity.
Select or adjust the rigging lengths to compensate for the weight distribution or
load. Maintain the system in an upright position.
32
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
Chapter 4
Unpack the Multi-axis Stage
ATTENTION: Improper handling of a multi-axis stage can cause
personal injury and damage to the equipment. Follow these
unpacking instruction to safely unpack and avoid damaging your
multi-axis stage.
The following procedure show you how to safely remove the stack stage from its
shipping crate.
1. Remove the crate cover and baces.
2. Attach lifting straps to shipping platform eyebolts. The angle between
straps and vertical is not to exceed 45°.
45°
max
3. Lift platform from crate using a hoist.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
33
Chapter 4
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
4. Support cantilevered or secondary stage while removing crate shipping
platform.
ATTENTION: Never use lifting straps to move the multi-axis
stage. Using lifting straps will deform covers and strip seals.
Always use a three-person lift to move the multi-axis stage.
Use a three-person lift to move the multi-axis stage.
Three-Person Lift - One person at each end of base stage grasping the
bottom of the stage near the ends. The third person will grasp the
cantilevered end or top stage by the stage base only and apply only enough
lift to balance the equipment.
The bottom stage should bare most of the weight and the top used for
balance only. Do not lift by the cover, side covers, or put pressure on the
strip seals.
WARNING: Do not remove stage shipping brackets until multiaxis stage is fully installed. Removing stage shipping brackets will
allow the carriages to move unexpectedly which could cause
personal injury and damage to the equipment.
5.
WARNING: Improper lifting of this product may result in personal
injury or damage equipment, never attempt to lift or move the
multi-axis stage by means other than those listed in this
publication.
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Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
Chapter 4
Store Packaging Material
Keep the crate and packing materials in case the multi-axis stage needs to be
returned for warranty service or stored for an extended period of time.
1. Tape screws and clamp hardware to the plywood board brace.
2. Put the end caps and braces in their original positions and place all packing
material inside the crate.
Multi-axis Stage Storage
The multi-axis stage storage area should be clean, dry, vibration free, and have a
relatively constant temperature. Refer to Environmental Specifications for Multiaxis Stages on page 101 for more detailed information.
Mount the Multi-axis Stage
Follow these steps to install a multi-axis stage on its mounting surface using the
supplied tee nut bars. Refer to Specifications and Dimensions beginning on
page 81 for detailed mounting dimensions and the number of fasteners required.
Torque
Recommended For
N•m (lbf•in)
Fastener
Order
Through Bolt(1)
–
M5 x 1.0 x 16 mm min
Uncovered stages
3.4 (30)
Toe clamps
MPAS-TOE
M6 x 1.0 x 16 mm min
Covered stages
5.5 (48)
Tee nuts(2)
MPAPS-x-TNUT(3)
M6 x1.0
Securing a stage from beneath
the mounting surface.
Tee Nut 5.5 (48)
Square Nut 2.3 (30)
(1)
(2)
(3)
(4)
Illustration
User Supplies(4)
Through bolt mounting is not an option for catalog number MPAS-x6xxxx-xLMxxx (150 mm) stages.
The tee nut mount for a catalog number MPAS-x8xxxx-xxxxx (200 mm) stage is a square nut in a tee slot.
Where x is the frame size of a stage, 6 = MPAS-x6xxxx-xxxxx (150 mm), 8 = MPAS-x8xxxx-xxxxx (200 mm), 9 = CHPS-x9xxxx-xxxxx (250 mm).
You supply the bolts.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
35
Chapter 4
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
1. Be sure the mounting surface is clear of any and all foreign material.
IMPORTANT
Do not use abrasives to clean the surface.
If necessary, stone the mounting surface (acetone or methanol may be
applied as cleaning agent).
2. Verify the flatness of the surface to which the linear stage is to be mounted.
The total indicator reading (TIR) is 0.0254 mm (0.001 in.) per 300 mm
(12 in.). TIR or runout, correlates to an overall flatness of a surface.
ATTENTION: Do not attempt to move the multi-axis stage by
grasping a cable junction box. Moving the multi-axis stage in
this manner will damage it and create a pinch or crush hazard.
The junction box is attached to the carriage, which is free to
move. Lifting the multi-axis stage in this manner allows
uncontrolled movement of the heavy base.
Always use a three-person lift and grasp the multi-axis stage by
the base axis at the end caps Keeping fingers clear of the upper
axis and it carriage’s path of travel.
Personal injury and equipment damage may occur if the linear
stage is handled improperly.
3. Lift the multi-axis stage onto and the prepared mounting surface and align.
4. Insert the supplied tee nut bar and center it in the T-slot, long stages will
require multiple tee nut bars, be sure to install tee nut bars in both T-slots.
5. Secure the linear stage by using all mounting holes. Torque all mounting
bolts to 3.2 N•m (48 lb•in).
Mount Your Application
36
Mount your application to the carriage using the following bolts and torque
values:
Cat. No.
Bolt
MPAS-x6xxxx-xxxxxx
MPAS-x8xxxx-xxxxxx
MPAS-x9xxxx-xxxxxx
M6
M8
M8
Torque
N•m (lb•in)
3.2 (48)
10.1 (90)
10.1 (90)
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
Connect the Multi-axis
Stage
Chapter 4
The installation procedure assumes you have prepared your system for correct
electrical bonding and understand the importance of electrical bonding for
correct operation of the system to which your linear stage belongs. If you are
unfamiliar with electrical bonding, the section Attach the Ground Strap and
Interface Cables briefly describes and illustrates correct system grounding
techniques.
ATTENTION: Plan the installation of your multi-axis stage so
that you can perform all cutting, drilling, tapping, and welding
before installing the multi-axis stage. Be careful to keep any
metal debris from falling into the stages. Metal debris or other
foreign matter can become lodged in a stage, which can result in
damage to the stage or its components.
SHOCK HAZARD: To avoid hazard of electrical shock, perform
all mounting and wiring of the multi-axis stage prior to applying
power. Once power is applied, connector terminals may have
voltage present even when not in use.
Attach the Ground Strap and Interface Cables
A ground strap and four cable connections are the only electrical connections
necessary between the multi-axis stage and the drive system. The flat surfaces on
the power and feedback connectors should align during connection, and
significant resistance should not be felt when tightening either connector.
1. For electrical safety, connect the ground screw on the chassis of the lower
linear stage to the groundbus for your system.
To reduce the effects of electromagnetic interference (EMI), bond the
stage with a braided ground strap, 12 mm (0.5 in.) wide minimum, to a
grounded metal surface. This creates a low-impedance return path for
high-frequency energy.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
37
Chapter 4
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
2. Torque the ground screw at the lower stage to 2 N•m (18 lb•in.).
M5 x 0.8 -6H
Ground Screw
Lug
Braided Ground Wire 12 mm (0.5 in.) min.
3. Form a drip loop in each cable at a point directly before it attaches to the
motor.
Align Flat Surfaces
Power/Brake
Connector
Drip Loop
in Cable
Feedback
Connector
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Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter 4
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
OR
Y-Axis (or Z-Axis)
Power and Feedback
Cables Lables
Cable
Drip Loop
X-Axis
Power and Feedback
Cables Lables
Align flat surfaces
4. Identify the multi-axis stage power and feedback cables by the labels near
the connector.
5. Attach the feedback cable, and the combination power and brake cable to
the motor.
ATTENTION: Do not connect or disconnect the motor feedback
cable, or the power and brake cable while power is applied to
them.
Inadvertent pin connections may result in unexpected motion or
result in irreversible damage to the components.
a. Carefully align each cable connector with the respective motor
connector as shown in the diagram.
b. Do not apply excessive force when mating the cable and motor
connectors.
If the connectors do not go together with light hand force, realign and
try again.
ATTENTION: Be sure that cables are installed and restrained
to prevent uneven tension or flexing at the cable connectors.
Excessive and uneven lateral force at the cable connectors may
result in the connector’s environmental seal opening and closing
as the cable flexes. Failure to observe these safety procedures
could result in damage to the motor and its components.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
39
Chapter 4
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
c. Hand tighten the knurled collar five to six turns to fully seat each
connector.
ATTENTION: Keyed connectors must be properly aligned and
hand-tightened the recommended number of turns.
Improper alignment is indicated by the need for excessive force,
such as the use of tools, to fully seat connectors.
Connectors must be fully tightened for connector seals to be
effective.
Failure to observe these safety procedures could result in damage
to the motor, cables, and connector components.
About the Air Option for
Ball Screw Linear Stages
A ball screw linear stage may connect to an external air supply via the air port; see
Component Descriptions on page 23. This can reduce the ingress of particulates
in a dusty environment.
• Air supplied to the ball screw stage should not exceed 10 kpa (1.45 psi).
• Plastic air tubing should be 6 mm (0.2362 in.) OD Teflon FEP tubing.
• If using only one port, plug other port.
• Maximum flow rate 15 SCFM based on 4mm ID tube and 0.5m max
length.
About the Brake Option for
Ball Screw Linear Stages
The brakes offered as options on the ball screw linear stages are holding brakes.
They are designed to hold the carriage in place up to the rated brake holding
force. The brakes release when voltage is applied to the brake coil. Voltage and
polarity supplied to the brake must be as specified to be sure of proper brake
performance.
The brakes are not designed to stop the movement of a linear stage. Servo drive
inputs should be used to stop motion. The recommended method of stopping
motion is to command the servo drive to decelerate to 0 mm/s (0 in/s), and
engage the brake after the servo drive has decelerated the linear stage to 0 mm/s
(0 in/s).
If system main power fails, the brakes can withstand use as stopping brakes.
However, use of the brakes as stopping brakes creates rotational mechanical
backlash that is potentially damaging to the system, increases brake pad wear, and
reduces brake life. The brakes are not designed nor are they intended to be used as
a safety device.
40
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter 4
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
Meeting UL Installation
Standards
Multi-axis stage installations should follow Underwriters Laboratories standard
UL 1740 - Standard for Safety for Robots and Robotic Equipment.
Refer to UL Safety Standards for Linear Stage Installations on page 26 for a brief
description of this standard.
ATTENTION: UL 1740 requires all linear stage installations be
equipped as described below.
The design, operation, and verification of this implementation is
the machine builders responsibility.
A Power Enable light that illuminates when drive power is applied and motion is
possible.
Emergency movement must be possible when drive power is not available to a ball
screw linear drive with a brake. The figure depicts an operator controlled circuit
for a Kinetix 6000 drive that applies emergency power to release the brake.
Figure 9 - Emergency Brake Release for Ball Screw Linear Stage Example
MOTOR BRAKE
EMERGENCY
BRAKE RELEASE
SWITCH
DPDT
BLK
KINETIX 6000
BRAKE CONNECTOR
MBRKMBRK+
WHT
MOTOR CABLE
2090-XXNPMF
COM
PWR
24V
RTN RTN
EMERGENCY
BRAKE
POWER
SUPPLY
24V
BRAKE
POWER
SUPPLY
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
DBRKDBRK+
6
5
4
3
2
1
41
Chapter 4
Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage
Notes:
42
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter
5
Linear Stage Connector Data
Introduction
This chapter provides power and feedback cable information for the linear stage.
Linear Stage Power and
Feedback Connections
Topic
Page
Linear Stage Power and Feedback Connections
43
The following tables identify the power and feedback pinouts for circular
connectors for used with standard Allen-Bradley cables.
The direct drive and ball screw linear stages use different encoder types.
Consequently, the feedback connector signals are different for each of these linear
stage types.
Table 1 - Power Connector
Pin
Color (1)
Signal
A
Red
U (A) Phase
B
White
V (B) Phase
C
Black
W (C) Phase
D
Green/Yellow
Ground
F
White
Brake+ (2)
G
Black
Brake- (2)
Case
Shield
Cable Shield and GND
B
A
L
C
G
F
H
D
E
Intercontec P/N BKUA090NN000550003500
Mating Cable Allen-Bradley 2090-XXNPMF-16Sxx
(1) These are the wire colors for the leads on the direct drive linear stages (catalog number MPAS-xxxxxx-ALMx2X).
Wires for the ball screw linear stages (catalog number MPAS-xxxxxx-V0xxSxX) are not field accessible.
Refer to Accessories on page 103 for wire colors of interconnect cables.
(2) Brake+ and Brake- are available only on ball screw linear stages having a rotary motor with a brake.
ATTENTION: Disconnect input power supply before installing or
servicing stage.
Properly ground the stage as described in this manual and the drive
manual.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
43
Chapter 5
Linear Stage Connector Data
Table 2 - Feedback Connector for Direct Drive Linear Stage
Pin
Signal Name
Wire Color (2)
Signal Description
1
AM+
Yellow
A Quad B TTL - A Differential
2
AM-
White/yellow
A Quad B TTL - A Differential
3
BM+
Brown
A Quad B TTL - B Differential
4
BM-
White/Brown
A Quad B TTL -B Differential
5
IM+
Violet
TTL - Index Mark Differential
6
IM-
White/Violet
TTL - Index Mark Differential
7
Reserved
–
–
9
+5V DC
White/Red
Encoder and Hall Sensor Power
10
Common
Black
Common
11
Reserved
–
–
13
PTC Temp+ (1)
Green
PTC Thermistor
14
Common
White/Black
Common
15
S1
White/Green
TTL - Trapezoidal Hall Commutation
16
S2
Blue
TTL - Trapezoidal Hall Commutation
17
S3
White/Blue
TTL - Trapezoidal Hall Commutation
Case
Shield
–
–
8
12
(1) PTC Temp- is connected to Common.
(2) These are the wire colors for the leads on the direct drive linear stages (catalog number MPAS-xxxxxxALMx2X).
Refer to Accessories on page 103 for wire colors of interconnect cables.
10
9
8
1
11
12
13
16
2
17
14
4
6
7
5
3
15
Intercontec P/N AKUA034NN00100035000
Mating Cable Allen-Bradley 2090-XXNFMF-Sxx
44
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Linear Stage Connector Data
Chapter 5
Table 3 - Feedback Connector for Ball Screw Linear Stage
Pin
Signal Name MPAS- Signal Description
Axxxxx (230V)
Signal Name MPASBxxxxx (460V)
1
Sin+
Analog Differential 1V p-p
Sin+
2
Sin-
Analog Differential 1V p-p
Sin-
3
Cos+
Analog Differential 1V p-p
Cos+
4
Cos-
Analog Differential 1V p-p
Data-
5
Data+
Serial Data Differential Signal +
Data+
6
Data-
Serial Data Differential Signal -
Data-
7
Reserved
–
Reserved
9
+5V DC
230V MPAS Encoder Power
10
Common
230V MPAS Encoder Common
11
Reserved
460V MPAS Encoder Power
+9V dc
460V MPAS Encoder Common
Common
8
12
13
TS+
PTC Thermistor
TS+
14
TS-
Common
TS-
15
Reserved
–
Reserved
Shield
–
Shield
16
17
Case
10
9
8
1
11
12
13
16
2
17
14
4
6
7
5
3
15
Intercontec P/N AKUA034NN00100035000
Mating Cable Allen-Bradley 2090-XXNFMF-Sxx
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
45
Chapter 5
Linear Stage Connector Data
Notes:
46
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter
6
Configuration Guidelines
Introduction
Required Files
Your multi-axis stage is made from individual MP-Series Integrated Linear Stages.
This chapter provides guidelines for using RSLogix 5000 software to configure a
servo drive system with an Allen-Bradley MP-Series linear stage. Use this section
to configure the individual stages.
Topic
Page
Required Files
47
Configure Your Linear Stage
48
Configure RSLogix 5000 Software for Linear Stages with Kinetix Multi-axis
Drives
49
Configure Ultraware Software for Linear Stages with Ultra3000 Drives
58
Set Travel Limits
60
Program Home to Torque for Kinetix Multi-axis Drives with Linear Stages
60
Firmware revisions and software versions required to support the linear stages
include the following:
• RSLogix 5000 software, version 16.00 or later
• Kinetix 2000 or Kinetix 6000 multi-axis drives
– Firmware revision 1.96 or later
– For RSLogix 5000 software, version 16.xx
use Motion Database file, version 4_13_0 or later
– For RSLogix 5000 software, version 17.xx or later
use Motion Database file, version 5_4_0 or later
• Ultra3000 drives
– Firmware revision 1.52 or later
– Motion Database (.mdb) file, dated July 2007 or later
• Motion Analyzer software, version 4.4 or later
Download these files from http://support.rockwellautomation.com. Contact
Rockwell Automation Technical Support at (440) 646-5800 for assistance.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
47
Chapter 6
Configuration Guidelines
Configure Your Linear Stage
Configure the linear stage by using the parameter settings described in this
chapter.
ATTENTION: Moving parts can injure. Before running the
stage, make sure all components are secure.
Check that the linear stage is clear of foreign matter and tools.
Objects hit by the moving stage can cause personnel injury or
damage to the equipment.
Incorrect motor, Hall, or encoder wiring can cause uncontrolled
motion.
IMPORTANT
You are responsible to verify that the servo control system safely
controls the linear stage with regard to maximum force,
acceleration, and speed.
The type of Allen-Bradley drive connected to the linear stage determines the
configuration procedure. Refer to the following table to determine the
configuration procedures to follow.
If your servo drive is
Start on page
Continue with page
Kinetix 2000 (2093-xxxx-xxx)
49
60
Kinetix 6000 (2094-xxxx-xxx-x)
49
Ultra3000 SERCOS (2098-DSD-xxxx-SE)
49
Ultra3000 non-SERCOS (2098-DSD-xxxx)
58
IMPORTANT
N/A
If you are using a Kinetix 2000 or Kinetix 6000 drive, you will find it
useful to read and apply Appendix D, Home to Torque-level Example,
to your system-level program.
This appendix provides information on using torque-level homing to
reference a known (home) position by monitoring torque while driving
an axis into a mechanical hard-stop.
48
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Configuration Guidelines
Configure RSLogix 5000
Software for Linear Stages
with Kinetix Multi-axis
Drives
Chapter 6
The RSLogix 5000 software parameters provide here are for basic setup and
tuning parameters of MP-Series Integrated Linear Stages.
• In Set Axis Properties in RSLogix Software the drive parameters tables for
direct drive and ball screw drive linear stage are shown.
• In Tuning Linear Stages with RSLogix 5000 Software which begins on
page 53 follow tasks are covered:
– Tune Your Linear Stage – for ball screw stages only
– Calculate and Configure the Loop Gain – for ball screw stages only
– Set Travel Limits - for direct drive and ball screw stages
Set Axis Properties in RSLogix Software
Use parameter settings in the following table when you configure the
ControlLogix drive system for your linear stage. Parameter settings differ
between the direct drive and ball screw linear stages be sure to use the correct
table. It is assumed the MP-Series linear stage and a Kinetix 2000 or Kinetix 6000
servo drive are installed and wired as one axis of a motion system.
ATTENTION: Incorrect parameter settings may result in
uncontrolled motion, with the potential for damage to the stage
and machine.
Do not set the Positioning mode to Rotary for any linear stage. This
will result in incorrect positioning of the linear stage.
Initiating a motion command on a linear stage with an incorrect
Position mode setting may result in damage to the linear stage,
and the machine in which it is installed.
Direct Drive Linear Stages
Enter these parameters in the Axis Properties tab of RSLogix 5000 software for
direct drive linear stages, catalog number MPAS-xxxxxx-ALMx2x
Axis Properties Tab
Parameter
Entry/Selection, with applicable distance unit settings
Metric
Drive/Motor
Motor Feedback
Motor Catalog Number
Select one from the list
xMPAS-A6xxxB-ALMS2x
xMPAS-A8xxxE-ALMS2x
xMPAS-A9xxxK-ALMS2x
xMPAS-B8xxxF-ALMS2x
xMPAS-B9xxxL-ALMS2x
Drive Resolution
200
Drive Counts per
Motor Millimeter
Feedback Type
TTL with Hall
Cycles
50
Per
Millimeter
English
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
49
Chapter 6
Configuration Guidelines
Axis Properties Tab
Parameter
Entry/Selection, with applicable distance unit settings
Metric
Conversion
Hookup
(1)
English
Positioning Mode
Linear
Conversion Constant
200 drive counts / 1.0 mm
5080 drive counts / 1.0 in.
Test Increment
70 mm, min for Ultra3000 drive
20 mm Kinetix 2000 drive
20 mm Kinetix 6000 drive
2.76 in. min for Ultra3000 drive
0.787 in. Kinetix 2000 drive
0.787 in. Kinetix 6000 drive
Drive Polarity
Positive
(-)
Positive Direction
(+)
Homing
Mode
Active
Position
0 (or programmable)
Offset
5 mm, min
Sequence
Torque Level-to-Marker
Direction
Reverse Bi-directional
Torque Level
80%, min
Greater if the system friction, force, or weight exceeds 80% of the Continuous Force Rating at any
point in the range of motion
Speed
50 mm/s
1.97 in./s
Return Speed
10 mm/s
0.39 in./s
Hard Travel Limits
Check if hardware limits are in use.
Use Motion Analyzer to determine the maximum stopping distance in your application to set
Negative and Positive Limits
Soft Travel Limits
Check
Use Motion Analyzer to determine the maximum stopping distance in your application to set
Negative and Positive Limits
Position Error
Tolerance(2)
10 mm
Gains
Feedforward Velocity
Gain
100%
Tune
Velocity Feedforward(3)
Check
Limits
0.2 in., min
0.394 in.
(1) The Command and Feedback test, accessed from the Hookup tab, does not verify the Hall Sensor wiring to a Kinetix 2000 or a Kinetix 6000 drive. The wire colors and
continuity for the Hall signals must be manually verified.
(2) Using Auto-tune will reset this parameter to the default value.
(3) Using Velocity Feedforward will reduce position error during motion.
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Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Configuration Guidelines
Chapter 6
Ball Screw Drive Stages
Enter these parameters in the Axis Properties tab of RSLogix 5000 software for
ball screw linear stages, catalog number MPAS-xxxxxx-Vxxxxx.
Axis Properties Tab
Parameter
Entry/Selection, with applicable distance unit settings
Metric
Drive/Motor
Conversion
English
Motor Catalog Number
Select one from the list
MPAS-Axxxx1-V05S2x
MPAS-Axxxx1-V05S4x
MPAS-Axxxx2-V20S2x
MPAS-Axxxx2-V20S4x
MPAS-Bxxxx1-V05S2x
MPAS-Bxxxx1-V05S4x
MPAS-Bxxxx2-V20S2x
MPAS-Bxxxx2-V20S4x
Drive Resolution
200,000
Drive Counts per
Motor Millimeter
Positioning Mode
Linear
ATTENTION: Setting the Positioning Mode to Rotary can cause damage to the
stage or the machine due to incorrect positioning.
Hookup
Conversion Constant
Test Increment
10,000 drive counts / 1.0 mm for
254,000 drive counts / 1.0 in. for
5 mm min
0.2 in., min
Drive Polarity
Positive
(-)
(+)
Homing
Positive Direction
Mode
Active
Position
0 (or programmable)
Offset
5 mm, min
Sequence
Torque Level-to-marker
Direction
Reverse Bi-directional
Torque Level
50%, min
Greater if the system friction, force, or weight exceeds 50% of the Continuous Force Rating at any
point in the range of motion.
Speed
50 mm/s
1.97 in./s
Return Speed
10 mm/s
0.39 in./s
0.2 in., min
Absolute Home is available for ball screw linear stages. For maximum range of motion, position the carriage so its proximal
edge is 25.4 mm (1.0 in.) from the inside edge of the end plate.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
51
Chapter 6
Configuration Guidelines
Axis Properties Tab
Parameter
Entry/Selection, with applicable distance unit settings
Metric
Limits
English
Hard Travel Limits
Check if hardware limits are in use.
Use Motion Analyzer to determine the maximum stopping distance in your application to set
Negative and Positive Limits
Soft Travel Limits
Check
Use Motion Analyzer to determine the maximum stopping distance in your application to set
Negative and Positive Limits
Position Error
Tolerance(1)
10 mm
Gains
Feedforward Velocity
Gain
100%
Tune
Velocity Feedforward(2)
Check
0.394 in.
(1) Using Auto-tune will reset this parameter to the default value.
(2) Using Velocity Feedforward will reduce position error during motion.
52
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Configuration Guidelines
Chapter 6
Tuning Linear Stages with RSLogix 5000 Software
This section shows the steps to tune linear stages with RSLogix 5000 software,
version 16.xx.
IMPORTANT
ATTENTION: The Tuning and Loop Gain procedures apply only to
the ball screw linear stages.
The Travel Limit procedures apply to direct drive and ball screw linear
stages.
• Tuning your linear stage requires you to calculate and configure the loop
gain based on the actual measured inertia.
• By setting travel limits your application minimum deceleration is defined.
Tune Your Linear Stage
IMPORTANT
ATTENTION: These procedures apply only to ball screw linear
stages.
Use the following steps to set the parameters in the Axis Properties tab of
RSLogix 5000 software to tune a ball screw drive linear stage (catalog number
MPAS-xxxxxx-VxxSxx).
1. In the Axis Properties dialog box, choose
Fault Actions tab>Set Custom Stop Action>Custom Stop Attributes.
TIP
These parameter settings work best if the linear stage is installed in a
horizontal (table top) or a wall mount (vertical) orientation.
2. Set the Brake Engage and the Brake Release delay times to the values listed
in Brake Specifications for Ball Screw Linear Stage Motors on page 101.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
53
Chapter 6
Configuration Guidelines
3. Reduce the default Stopping Time Limit from 10 seconds to 0.5 seconds.
IMPORTANT
To prevent the carriage from moving, or falling when installed in
a vertical orientation, the Stopping Time Limit must be set to
0.99 seconds or less.
4. Select the Tune tab in the Axis Properties dialog box and enter the
following parameters:
• Travel Limit. Set to a maximum of the travel length of the linear stage.
• Speed (velocity).
• Torque/Force.
IMPORTANT
Only check Torque Offset, as shown below, if the linear stage is
installed in a non-horizontal mount position.
5. On the Tune tab, click Start Tuning to access the Motion Initiation dialog
box.
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Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Configuration Guidelines
Chapter 6
6. Click Yes to begin tuning the linear stage.
ATTENTION: Motion occurs immediately after clicking Yes.
Tuning is complete when the Tune Servo dialog box appears.
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Chapter 6
Configuration Guidelines
7. Select Yes to exit Tuning, and display the Tune Results dialog box.
Calculate and Configure the Loop Gain
IMPORTANT
These Loop Gain procedures apply only to ball screw linear stages.
You must calculate a position loop bandwidth based on the actual measured
inertia. This is with the values from the Tune Results dialog box for a ball screw
drive linear stage.
The Tune Results dialog box above shows a default Position Loop Bandwidth of
45.14153 Hz, and a Load Inertia Ratio of 6.8707952.
1. Calculate the Corrected Position Bandwidth as follows:
Corrected Position Loop Bandwidth = (Initial Position Loop Bandwidth
Result/(Initial Load Inertia Ratio Result +1)
For example, 5.73532 = 45.14153 / 7.8707952.
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Configuration Guidelines
Chapter 6
2. Enter the Corrected Position Bandwidth value 5.73532 as the Position
Loop Bandwidth and click OK.
3. Answer the remaining dialog boxes to apply the values.
The proper Position Bandwidth results in a stable starting point, from which you
may adjust the gains to fit the application requirements.
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Chapter 6
Configuration Guidelines
Configure Ultraware
Software for Linear Stages
with Ultra3000 Drives
The following steps assume that the MP-Series linear stage and an Ultra3000
drive are installed and wired as one axis of a motion system.
1. Connect a serial cable model, catalog number 2090-DAPC-D09xx, to the
CN3 connector on your Ultra3000 drive.
2. Apply AC input power to the Ultra3000 drive.
3. Establish communication with the Ultra3000 drive, and click Cancel when
the Ultra3000 motor database dialog box appears.
Clicking Cancel causes the Ultraware software to scan for online drives.
When a drive is found, an Online Drive icon will display in the Workspace.
4. Double-click the Online Drive icon to view the main Drive setup dialog
box.
5. Perform the action in the following table appropriate for your type of
linear stage:
If your linear stage is a
Do this
Direct drive
MPAS-xxxxxx-ALMO2x
Select your direct drive linear stage from the drop
down in the Motor Model dialog box, and then verify
the data in the Motor Field is correct for your direct
drive linear stage.
Ball Screw
xMPAS-xxxxx-V20S2x
Verify the data in the Model Field is correct for your
ball screw linear stage.
Auto Motor Iden (identification) is enabled only for ball screw linear
stages. Auto Motor Iden remotely identifies the motor, and then populates
the model field with the appropriate motor information. Direct drive
linear stages do not interact with Auto Motor Iden, and the model field
data must be manually selected for the appropriate motor information to
load.
6. From the Displayed Units pull-down menu, choose User.
This programs Ultraware software to make distance moves in User Units
(mm or in.).
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Configuration Guidelines
Chapter 6
7. In the Motor Encoder Units pull-down menu, enter the appropriate values
from the tables on page 59.
Velocity, position, and acceleration counts per unit are based on the selected User
Units (mm or in.).
User Unit Scaling Parameters (1)
Distance Units for Ball Screw Linear Stages
Metric
English
MPAS-xxxxxx-V20xxx
MPAS-xxxxxx-V20xxx
Velocity Label
mm/s
in./s
Velocity Scale
6553.6
166461.44
Position Label
mm
in.
Position Scale
6553.6
166461.44
Acceleration Label
mm/s/s
in./s/s
Acceleration Scale
6553.6
166461.44
(1) User units are determined by the screw lead of the linear stage. The screw lead is defined in linear units of
travel per revolution. For example, the travel per revolution of an MPAS-xxxxxx-V20xxx is 20 mm/rev. MPSeries Integrated Linear Stages with a ball screw use a feedback device that provides 128 sin/cos cycles per
revolution of the motor. The Ultra3000 drive interpolates this signal by an additional 1024, causing the
maximum count per internal motor revolution of the linear stage to be 131,072 counts/rev.
Table 4 - Direct Drive Linear Stage Distance Unit Settings
User Unit Scaling Parameters
Distance Units
Metric
English
Velocity Label
mm/s
in./s
Velocity Scale
200
5080
Position Label
mm
in.
Position Scale
200
5080
Acceleration Label
mm/s/s
in./s/s
Acceleration Scale
200
5080
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Chapter 6
Configuration Guidelines
Set Travel Limits
MP-Series Integrated Linear Stages are designed to use the software overtravel
limits available in RSLogix 5000 and Ultraware software.
IMPORTANT
Travel Limits apply to direct drive and ball screw linear stages.
Set Overtravel limits according to the maximum speed of the servo drive system
and the payload of the application. You can determine the Deceleration Distance
between the slide and the end-of-travel bumpers based on the combination of the
Deceleration Rate of the load, and the available peak force from the stage-drive.
Then use Motion Analyzer software to calculate the minimum deceleration
distance at the maximum speed of your application. (1)
In addition to software overtravel limits, the end of travel bumpers for the linear
stage will stop the carriage up to the ratings listed in the table.
Table 5 - Bumper Stop Energy Limits for Linear Stage End of Travel
Cat No.
Energy Limit
Cat No.
Energy Limit
Cat No.
Energy Limit
MPAS-x6xxxx-V20xxx
37.3 J (330 in•lb)
MPAS-x8xxxx-V20xxx
22.7 J (201 in•lb)
MPAS-x9xxxx-V20xxx
16.5 J (146 in•lb)
MPAS-x8xxxx-ALMx2x
45.5 J (403 in•lb)
MPAS-x9xxxx-ALMx2x
35.2 J (312 in•lb)
MPAS-x6xxxx-ALMx2x
ATTENTION: If energy greater than the bumper capacity is
anticipated in the application, you must provide additional
mechanical means for safely stopping the carriage.
To calculate kinetic energy of the carriage with your payload use the formula
⎛ J = 1-- × M × V 2⎞
⎝
⎠
2
J = energy in Joules
M = moving mass (linear carriage + payload) [kg]
V = maximum velocity of stage in your application [m/s] (1)
Program Home to Torque for
Kinetix Multi-axis Drives
with Linear Stages
If you are using a Kinetix 2000 or Kinetix 6000 drive, you will find it useful to
read and apply About Home to Torque-level Homing on page 116 to your
system-level program.
IMPORTANT
Home to Torque Programming should be performed only after you
have tuned your drive and linear stage combination.
You should have successfully completed tuning by performing the
steps in the table on page 53.
This appendix provides information on using torque-level homing to reference a
known (home) position by monitoring torque while driving an axis into a
mechanical hard-stop.
(1) Velocity and kinetic energy can be much higher due to uncontrolled, worst-case motion that is only constrained
by the length of stroke and the power capacity of the motor-drive pairing.
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Chapter
7
Maintenance
Introduction
This chapter describes the maintenance procedures for your linear stage.
Topic
Page
Before You Begin
61
Recommended Maintenance Intervals
61
Lubricate the Bearing
62
Clean the Strip Seal
63
Clean the Cover
63
IMPORTANT
Before You Begin
Any person that teaches, operates, maintains, or repairs these
linear stages must be trained and demonstrate the competence to
safely perform the assigned task.
You will need the following tools to lubricate and clean your linear stage:
ATTENTION: Lockout and tagout input power before servicing.
• 0.36 m (14 in.) or larger clamp with soft jaws
• Grease pump kit (catalog number MPAS-GPUMP) with tip type installed
and primed
• Grease cartridge (catalog number MPAS-CART), included in grease
pump kit.
• Air line with a maximum pressure of 68 kpa (10 psi).
• Lint free cloth
• Isopropyl alcohol, as necessary for cleaning
Recommended
Maintenance Intervals
Recommended maintenance and lubrication intervals are:
• direct drive linear stages every 6 months or 2500 km (1550 mi) of travel,
whichever comes first
• ball screw linear stages every 6 months or 150,000,000 revolutions,
whichever comes first
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Chapter 7
Maintenance
Lubricate the Bearing
Lubricate the linear stage bearings as shown and described below. Use the MPSeries Integrated Linear Stage grease pump kit, and additional grease cartridges as
necessary.
Figure 11 - Direct Drive Linear Stage Lubrication
Bearing Lubrication Ports (two per end cap)
Figure 12 - Ball Screw Linear Stage Lubrication
Ball Nut Lubrication Port
(one per linear stage)
Bearing Lubrication Ports (two per end cap)
1. Position the carriage at end of travel and clamp it to hold the linear stage
against end block.
ATTENTION: Do not use clamp across the side panels. This will
deform and damage the side panels.
2. Remove the lubrication port protective caps on each end cap.
3. Insert the tip of the grease pump into the lubrication port, pushing in until
firm contact with the grease fitting is made.
4. Pump the handle until back pressure is felt, or a maximum of two strokes
are made.
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Chapter 7
5. Repeat step 3 and step 4 to the other lubrication ports.
6. Move the carriage to opposite end of travel and repeat steps 1…5.
7. Remove the clamp.
8. Reinstall the protective caps on all the lubrication ports.
Clean the Strip Seal
Clean the strip seals, if installed, using a lint free cloth lightly saturated with
isopropyl alcohol.
IMPORTANT
Replace the strip seal if it cannot be cleaned, or if an uneven or
scored surface is detected during cleaning.
A buildup of foreign material on the strip seal degrades the
performance of the linear stage. This buildup coupled with rapid
movement of the carrier and the resulting friction will score the
surface and create a burnished appearance on the strip seal.
Elements that contribute to a typical buildup on the strip seals are
dust, grease, and other contaminants normally encountered in any
operating environment that is not strictly controlled.
Refer to the Remove the Strip Seal on page 69 and Replace the Strip Seal on
page 71 when performing this task.
Clean the Cover
Clean the covers at the same time you clean the strip seals. Use pressurized air and
a lint free cloth lightly saturated with isopropyl alcohol to remove any dirt or
grease.
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Chapter 7
Maintenance
Notes:
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Chapter
8
Removing and Replacing Multi-axis Stage
Components
Introduction
This chapter provides procedures for user-replaceable parts on the multi-axis
stage. Procedures for the cover, and the rotary motor replacement are limited to
the secondary stage. Return your multi-axis stage to factory for the cover and the
rotary motor replacement for the base stage.
Topic
Page
Before You Begin
66
Cable Carrier Assembly Removal Procedures
66
Cable Carrier Assembly Installation
69
Remove the Strip Seal
69
Remove the Cover
70
Install the Cover
70
Replace the Strip Seal
71
Install the Side Cover
72
Replace the Rotary Motor
73
ATTENTION: Lock out and tag out input power before
servicing.
These procedures are not applicable to both types of linear stages.
Direct drive and ball screw linear stages have unique
configurations.
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Chapter 8
Removing and Replacing Multi-axis Stage Components
Before You Begin
Assemble these tools before you begin removal and replacement procedures.
• Torque wrench
• 2.5 mm, 3 mm, 4 mm, 5 mm, and 6mm L-shaped hex keys
• 0.8 mm (0.030 in.) shim
• Tin snips
• Loctite 222
• Phillips and flat-blade screwdrivers
• Ruler
• Pencil or marker
Cable Carrier Assembly
Removal Procedures
There are three different cable carrier removal procedures. They differ by the
types of linear stage used on the base and secondary axis. Please be sure to follow
the procedure appropriate for your multi-axis stage. The Cable Carrier
Replacement diagram shows components common to all procedures.
WARNING: Remove power from drive and disconnect extension
cables before performing this procedure. Failure to remove power
could result in personal injury and equipment damage.
Never pull on wires when disconnecting power and feedback
connectors. Pulling on wires could result in damage to circuit
continuity.
Figure 13 - Cable Carrier Replacement
A single linear stage shown for clarity.
1
M3 x 0.5 x 8 LG Phillips Pan Head Screws (4)
2
M4 x0.7 x LG BHCS (2)
3
M4 x 0.7 x 10 LG SHCS (2)
M3 x 0.5 x 8 LG SHCS (2)
7
66
6
5
4
Item
Description
Item
Description
1
Junction Box Cover
5
Angle Bracket
2
Junction Box Side Cover
6
Feedback Connector
3
Cable Carrier Module
7
Motor Power Connector
4
End Bracket
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Removing and Replacing Multi-axis Stage Components
Chapter 8
Remove the Cable Carrier Assembly
For MPMA-xxDxxxxxx-SxC and MPMA-xxExxxxxx-SxC Multi-axis Stages
Follow this procedure is to remove the cable carrier assembly from multi-axis
stage with a direct drive base axis and ballscrew secondary axis.
TIP
Mark the location of the end brackets before removing the cable
carrier, this will make it easier to align it when reinstalling.
1. Remove and save for re-installation all P-clamps and hardware used to
route cables from upper axis to lower axis.
2. Disconnect the motor power connector from the upper axis motor.
3. Disconnect the feedback connector from the upper axis motor.
4. Remove the three SHCS from junction box side cover of the lower stage
that mount the outer cable carrier bracket.
5. Lay the outer cable carrier out flat.
6. Remove the two pan head phillips screws from junction box side cover.
7. Remove the two button head cap screws (BHCS) from the junction box
cover.
8. Remove the junction box cover assembly.
9. Separate the motor power connector by squeezing the side tabs and pulling
on the housing. Do not pull on the wires.
10. Separate the feedback connector from the circuit board by pushing on the
center tab and pulling on the connector housing. Do not pull on the wires.
11. Remove the two SHCS from the cable carrier angle bracket.
12. Lay the cable carrier out flat and mark the location of the end bracket.
TIP
Avoid separation of SHCS from square nut in T-slot. Leaving them
attached will make assembly easier.
13. Loosen, but do not remove, the two SHCS that secure the end bracket to
the base of the lower stage.
14. Slide the screws out of the bracket slots and remove the cable carrier.
For MPMA-xxIxxxxxx-SxC, MPMA-xxPxxxxxx-SxC, and MPMA-xxQxxxxxx-SxC
Multi-axis Stages
Follow this procedure to remove the cable carrier assembly for a multi-axis stage
with a ballscrew base and ballscrew secondary axis.
TIP
Mark the location of the end brackets before removing the cable
carrier, this will make it easier to align it when reinstalling.
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Chapter 8
Removing and Replacing Multi-axis Stage Components
1. Remove and save for re-installation any P-clamps and hardware used to
route cables from upper axis to lower axis.
2. Disconnect the motor power connector from the upper axis motor.
3. Disconnect the feedback connector from the upper axis motor.
4. Remove the two socket head cap screws (SHCS) that attach the cable
carrier angle bracket to the underside of the lower carriage.
5. Lay the cable carrier out flat and mark the location of the end bracket.
TIP
Avoid separation of SHCS from square nut in T-slot. Leaving them
attached will make assembly easier.
6. Loosen, but do not remove, the two SHCS securing the end bracket to the
base of the lower stage.
7. Slide the screws out of the bracket slots and remove the cable carrier.
For MPMA-xxBxxxxxx-SxC and MPMA-xxCxxxxxx-SxC Multi-axis Stages
Follow this procedure to remove the cable carrier assembly from a multi-axis stage
with a direct driver base and direct drive secondary axis.
TIP
Mark the location of the end brackets before removing the cable
carrier, this will make it easier to align it when reinstalling.
1. Remove and retain for re-installation any P-clamps and hardware used to
route cables from upper axis to lower axis.
2. Remove the four pan head phillips screws from junction box side cover of
the upper stage.
3. Remove the two button head cap screws (BHCS) from the junction box
cover.
4. Remove the junction box cover assembly.
5. Separate the motor power connector by squeezing the side tabs and pulling
on the housing. Do not pull on the wires.
6. Separate the feedback connector from the circuit board by squeezing the
center tab releasing lock and pulling on the connector housing. Do not
pull on the wires.
7. Remove the two socket head cap screws (SHCS) from the cable carrier
angle bracket.
8. Lay the cable carrier out flat and mark the location of the end bracket.
TIP
Avoid separation of SHCS from square nut in T-slot. Leaving them
attached will make assembly easier.
9. Loosen, but do not remove, the two SHCS securing the end bracket to the
base of the upper stage.
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Removing and Replacing Multi-axis Stage Components
Chapter 8
10. Slide the screws out of the bracket slots and lay carrier parallel to lower
stage.
11. Repeat step 3 through 10 for the base stage.
Cable Carrier Assembly
Installation
Follow the Cable Carrier Assembly Removal procedure for your multi-axis stage
in reverse adding the following steps when needed:
• Align the cable carrier using the alignment marks made when the worn
cable carrier was removed.
• Use Loctite 222 on all hardware during installation.
Remove the Strip Seal
Follow these directions to remove a strip seal.
Figure 14 - Linear Stage Seal Components
Strip Seal Clamp (4)
Seal Guide (4)
M3 SHCS (8)
M3 SHCS (2x per guide)
Stainless Steel
Strip Seal (2)
.
IMPORTANT
Handle strip seal material with care. The strip seal has sharp edges
that can cut if mishandled.
1. Loosen the strip seal clamps at each end of the linear stage.
2. Carefully grasp the end of the strip seal and slide it out of the linear stage.
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Chapter 8
Removing and Replacing Multi-axis Stage Components
Remove the Cover
Follow these directions to remove a secondary stage cover.
1. Remove strip seals following the strip seal removal procedure.
2. Remove the four M4 screws securing the linear stage cover to the end caps.
3. Remove the cover.
M4 SHCS (2 per side)
Install the Cover
Follow these directions to install a secondary stage cover.
1. Start at the end cap nearest the magnetic cautionary label or the MP motor,
and install two M4 x 25 SHCS.
2. Torque the M4 x 25 SCHS to 4 N•m (35 lb•in).
3. Make sure the cover contacts the end cap.
4. On the opposite end install two M4 x 30 SHCS and bottom out the screw.
The cover will not contact the end cap on this side and will float on the
screw.
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Removing and Replacing Multi-axis Stage Components
Replace the Strip Seal
Chapter 8
Follow these directions to replace the strip seals.
ATTENTION: Handle strip seal material with care. The strip seal
has sharp edges that can cause personal injury if mishandled.
1. Remove power from the linear stage, and lock out and tag the power
source.
2. Follow the instructions below on how to measure, mark, and cut new strip
seals.
1) Mark needed strip length.
3) Make two 45° marks to centerline.
2) Mark strip width centerline.
4) Use tin snips to cut along 45° marks.
3. Position the carriage at the midpoint of stage travel.
4. Expose the center metal section of the carriage’s seal strip guide by
loosening the screws securing the end clamps and those at the carriage seal
guide.
5. Thread the new strip seal, point end first, through the seal guides, the
carriage, and then the end clamps.
6. Center and smooth the strip seal against the top cover and the side panel
magnetic strips.
7. Using very light pressure, hold the seal guide against the strip seal, and then
tighten the seal guide.
8. Tighten one end clamp, but do not tighten the clamp on the other end.
9. Move the carriage by hand through the complete range of travel and make
sure the strip seal seats smoothly against the cover and side panel magnet
strips.
Pulling against the tightened end clamp will help to smooth the seal.
10. Once the seal lays flat and smooth against the top cover and side panel,
tighten the second end clamp.
11. With the outside edge of the end clamps as a guide, use tin snips to cut and
remove excess strip seal material.
12. Position the carriage at the far ends of travel.
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Chapter 8
Removing and Replacing Multi-axis Stage Components
13. Adjust the seal guide by inserting a 0.8 mm (0.030 in.) shim between the
seal guide and the strip seal.
Strip Seal
0.8 mm (0.03 in.) Shim
Seal Guide
14. Return the linear stage to service.
Install the Side Cover
Follow these directions to install a side cover.
1. Insert a side cover into the base of the linear stage by holding it with the
top slightly tilted outward and hooking the bottom of the side cover in the
channel near the bottom of the base.
TIP
If installing the side cover with strip seals in place use a flat-blade
screwdriver to lift the side cover by inserting the screwdriver under
the cover between the cover and the base.
2. Starting at the end cap adjacent to the ground screw, install one M4 SHCS
and torque it to 4 N•m (35 lb•in).
3. On the opposite end install one M3 SHCS and torque it to 2.5 N•m
(20 lb•in).
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Replace the Rotary Motor
Chapter 8
Follow these directions to replace a secondary stage rotary motor.
1. Disconnect the motor cables.
2. Remove the four M5 SHCS and lock washers that secure the motor to the
linear stage.
M5 SHCS (4x)
M4 SHCS
B
A
3. Remove the motor.
IMPORTANT
Measure the position of the coupling on the motor shaft as
shown in panel B of the diagram above.
4. Mark the measured coupling position on the new motor shaft.
5. Loosen the M4 SHCS in the coupling and remove the coupling from old
motor shaft.
6. Position the coupling on the new motor shaft, align it with the mark made
in step 4, and then tighten the coupling.
7. Align the coupling halves and install the motor.
8. Secure the motor with four M5 SHCS and lock washers.
9. Torque each cap screw to 4 N•m (35 lb•in) using a diagonal tightening
sequence.
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Chapter 8
Removing and Replacing Multi-axis Stage Components
10. Attach the power and feedback cables to the motor, by aligning the flat
edges on the cable connector with that on the motor connector.
Align Flat Surfaces
Power/Brake
Connector
Drip Loop
in Cable
Feedback
Connector
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Chapter
9
Troubleshooting
Introduction
This chapter is divided into three sections. The first section provides diagnostic
tables to use only during axis commissioning. Use the operational section to
troubleshoot either a direct drive or ball screw linear stage after the axis is up and
running, and use the thermistor measurement section only when direct drive
operational troubleshooting suggests it.
Refer to the following publications when troubleshooting a a linear stage
connected to one of the following drives:
• Kinetix 2000 Multi-axis Servo Drive User Manual, publication 2093UM001
• Kinetix 6000 Multi-axis Servo Drive User Manual, publication 2094UM001
• Ultra3000 Digital Servo Drives Installation Manual, publication 2098IN003
• Ultra3000 Digital Servo Drives Integration Manual, publication 2098IN005
Topic
Page
Troubleshooting During Commission and Startup
76
Operational Troubleshooting
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75
Chapter 9
Troubleshooting
Troubleshooting During
Commission and Startup
Use this section to diagnose and correct troubles encountered while using
RSLogix 5000 software to commission and startup your linear stage.
Description
Possible Cause
Corrective Action
Initialization stops at SERCOS
Level 3 and Logix software
reports Motor Attribute Error.
Incorrect motor catalog number.
Enter correct motor catalog
number.
Incorrect drive firmware.
For Kinetix 6000 and Kinetix
2000 drives, verify the firmware
revision is 1.96 or later,
For a Ultra3000 drive, verify the
firmware revision is 1.52 or
later.
Using a previously defined axis.
Delete and recreate the axis.
Incorrect feedback wiring.
Verify feedback wiring. Refer to
pages 112…114.
Drive reports error E04, E11, or
E07.
In the Hookup tab of Axis Properties, click on the Test Command and Feedback
button to verify wiring and commissioning of your linear stage. The following
table lists possible solutions for problems encountered while performing this test:
TIP
Operational
Troubleshooting
Hookup test may fail if friction and weight forces exceed 20% of the
stage’s continuous force rating.
Description
Possible Cause
Corrective Action
Linear stage, direct drive or ball
screw, passes Hookup test but
the carriage jumps position
when the axis is enabled.
Wiring of the Hall signals with
relation to the motor’s power
wiring is incorrect.
Verify wiring of Hall signals (S1,
S2, and S3) and power wires
(U, V, and W).
Direct drive linear stage fails
Hookup test, but wiring is
known to be correct.
Incorrect drive firmware.
Verify the Kinetix 6000 drive or,
Kinetix 2000 drive has
revision 1.96 or later firmware.
Verify you are using revision
16.00 or later of Logix software.
Use this section to diagnose and correct troubles with a direct drive or ball screw
driven linear stage after it has been commissioned. Read the entire section to
understand the kinds of troubles you may encounter and the possible fixes.
The evaluation procedures for direct drive and ball screw linear stages will help
you determine if faulty stage operation indicates a need to lubricate the stage or a
more fundamental problem. To interpret error codes reported by the drive, refer
to the Troubleshooting Procedures for Ball Screw Linear Stages table on page 79,
or the drive manuals referenced on page 75.
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Troubleshooting
Chapter 9
Evaluate the Direct Drive Linear Stage
1. Power down the drive system.
2. Disconnect the drive from the linear stage.
ATTENTION: Lockout and tagout input power before servicing
the linear stage.
3. By hand move the carriage through the entire range of motion. It should
move free and smooth.
4. If excessive resistance is felt, clean and relubricate the linear bearings.
5. Perform the procedures for a direct drive linear stage listed in the
troubleshooting tables on page 78.
6. If the problem persists, return for factory evaluation and possible repair.
Evaluate the Ball Screw Linear Stage
1. Power down the drive system.
2. Disconnect the drive from the linear stage.
ATTENTION: Lockout and tagout input power before servicing
the linear stage.
3. Remove the rotary motor.
4. By hand move the carriage through the entire range of motion. It should
move free and smooth.
TIP
To make it easier to move a fine pitch stage, connect an
11 mm (0.44 mm) extension rod to the motor coupling. Move
the stage by turning the extension with a hand wrench.
Motor Coupling
Before disconnecting,
mark the current position
on the motor shaft.
Extension Rod
11 mm (0.44 in.) min. diameter
150 mm (6 in.) approx. length
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Chapter 9
Troubleshooting
5. If excessive resistance is felt, clean and relubricate the linear bearings.
6. Perform the procedures for a ball screw linear stage listed in the
troubleshooting tables on page 78 and page 79.
If the problem persists, return for factory evaluation and possible repair.
Table 6 - Troubleshooting Procedures for Direct Drive or Ball Screw Linear Stages
ATTENTION: Lockout and tagout input power before servicing
the linear stage.
Description
Possible Cause
Corrective Action
Kinetix 6000 drive or Kinetix 2000
drive reporting error E19.
Ultra3000 drive reporting error E19,
E22, or E23.
For sealed stages excess friction can be caused
by contamination on the strip seal.
Clean the strip seal with a clean, soft cloth wetted with
isopropyl alcohol.
If problem persists, replace strip seal. Refer to Remove the
Strip Seal on page 69 and Replace the Strip Seal on page 71.
Stage received a large impact. The ball screw or
linear bearings have become misaligned or there
is damage to the rails.
Return stage to factory for evaluation and repair.
Linear bearing has excess friction.
Refer to Evaluate the Direct Drive Linear Stage on page 77 or
Evaluate the Ball Screw Linear Stage on page 77.
Table 7 - Troubleshooting Procedures for Direct Drive Linear Stages
ATTENTION: Lockout and tagout input power before servicing
the linear stage.
Description
Possible Cause
Corrective Action
Intermittent reporting of error E11,
E07, or E20 by the drive.
Cable carrier module exceeds its useful life of
10,000,000 cycles and is starting to fail.
Replace cable carrier module; refer to page 66 for
replacement instructions.
Intermittent reporting of error E04
by the drive.
Ambient temperature of the stage exceeds 40 °C
(104 °F).
Increase ventilation.
Thermistor circuit is defective.
Disconnect the flex cable and probe the open Junction Box.
At room temperature 25 °C (77 °F), verify the resistance of
the circuit is 100…200 Ohms. If not in range, return for
factory service.
Check resistance between
J1 pin 8 and J2 pin 2
Refer to page 101 for thermistor resistance values at other
temperature ranges.
Cable carrier module exceeds its useful life of
10,000,000 cycles and is starting to fail.
78
Replace cable carrier module; refer to page 66 for
replacement instructions.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Troubleshooting
Chapter 9
Description
Possible Cause
Corrective Action
Drive reporting error E07 or E20.
Environment is electrically noisy and cable shield
is compromised.
Verify carrier cable module and extension cable shield
termination are secure.
Drive reporting error E05.
Defective motor
Disconnect the flex cable and probe the Motor Power
connector (white Mate-N-Lok) in the open Junction Box.
1. Measure the resistance between pins 1 and 2, pins 2 and
3, and pins 1 and 3, and evaluate the measurements with
the following criteria:
– The resistance values will vary depending on the MPAS
model, but must be less than 15 Ohms.
– The difference between the three resistance
measurements must be less than 1 Ohm.
2. There should be an open circuit between pins 1, 2, 3, and
pin 4 (GND).
If any measurement is not in range, return for factory service.
Motor Power Connector Pin 1
Cable carrier module exceeds its useful life of
10,000,000 cycles and is starting to fail.
Replace cable carrier module; refer to page 66 for
replacement instructions.
Table 8 - Troubleshooting Procedures for Ball Screw Linear Stages
ATTENTION: Lockout and tagout input power before servicing
the linear stage.
Description
Possible Cause
Corrective Action
Carriage is not moving but the
controls report axis motion.
Rotary motor coupling broken or slipping.
Remove rotary motor and verify integrity of coupling.
Excessive carriage play.
Motor coupling set screw is loose.
Tighten motor coupling set screw.
Ball screw end blocks have excessive wear.
Return stage to factory for service.
Drive reporting error E05.
Motor is damaged.
Check that the phase-to-phase resistance of each motor
phase. The resistance should be equal, and not shorted to
ground or to the shield.
Kinetix 6000 drive or Kinetix 2000
drive reporting error E19.
Ultra3000 drive reporting error E19,
E22, or E23.
Brake on the motor does not release.
Manually release brake, and check that motor shaft is free to
turn and the bearing feels smooth.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
79
Chapter 9
Troubleshooting
Notes:
80
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Appendix
A
Specifications and Dimensions
This appendix is a supplement to this document. Associated Kinetix publications
listed in Additional Resources on page 7 and information in product
specifications may supersede the information in this appendix.
Topic
Page
MPMA-xABxxxxxx-xxx Product Specifications and Dimensions
82
MPMA-xACxxxxxx-xxx Product Specifications and Dimensions
84
MPMA-xAPxxxxxx-xxx Product Specifications and Dimensions
86
MPMA-xCBxxxxxx-xxx Product Specifications and Dimensions
89
MPMA-xCQxxxxxx-xxx Product Specifications and Dimensions
92
MPMA-xBExxxxxx-xxx Product Specifications and Dimensions
94
MPMA-xBIxxxxxx-xxx Product Specifications and Dimensions
96
MPMA-xBDxxxxxx-xxx Product Specifications and Dimensions
98
Brake Specifications for Ball Screw Linear Stage Motors
101
Environmental Specifications for Multi-axis Stages
101
PTC Thermal Signal
101
Certifications
101
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
81
Appendix A
Specifications and Dimensions
MPMA-xABxxxxxx-xxx
Product Specifications and
Dimensions
These specifications apply to Center Stacked X/Y stages with 250 mm frame
linear motor driven X-axis and 200 mm frame linear motor driven Y-axis.
Maximum payload is 15 kg (33.1 lb). For heavier loads, contact your Rockwell
Automation sales representative.
Table 9 - MPMA-xABxxxxxx-xxx Product Specifications
Multi-axis Linear Stage
Cat. No.
Travel mm (in.)
X-axis
Y-axis
MPMA-xABC0C0A0-S1C
200 (7.9)
MPMA-xABC6C6A0-S1C
260 (10.2)
Bi-directional Repeatability
(µm)
Encoder Type
Z-axis
X-axis
Y-axis
Z-axis
X-axis
Y-axis
Z-axis
Weight,
Approx.
kg (lb)
56.4 (124.1)
59.2 (130.2)
5 micron resolution
incremental magnetic
linear encoder
(direct drive only)
MPMA-xABD2D2A0-S1C
320 (12.6)
MPMA-xABD8D8A0-S1C
380 (15.0)
MPMA-xABE4E4A0-S1C
440 (17.3)
67.3 (148.1)
MPMA-xABF6F6A0-S1C
560 (22.0)
73.1 (160.8)
N/A
N/A
15
15
N/A
62.1 (136.6)
64.4 (141.7)
Table 10 - Allowable Payload Based Upon X-axis Acceleration and Y-axis Travel
Y-axis Travel mm (in.)
X-axis Acceleration (1)
g
200
260
320
380
440
560
1.4
0.5
—
—
—
—
—
1.3
3.6
2.4
1.0
0.2
—
—
1.2
7.2
6.0
4.6
3.8
2.4
0.1
1.1
11.4
10.2
8.8
8.0
6.6
4.3
1.0
16.5
15.3
13.9
13.1
11.7
9.4
0.9
22.7
21.5
20.1
19.3
17.9
15.6
(1) Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded.
82
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 11 - MPMA-xABxxxxxx-xxx Product Dimensions
232
(9.13)
TL/2
25.4
(1.00)
Bumper Travel
TL/2
215.7
(8.49)
25.4
(1.00)
Bumper Travel
25.4
(1.00)
Bumper Travel
53.6
(2.11)
TU/2
See Detail A
65.4
(2.58)
130.8
(5.15)
Base
248.7
(9.79)
86.1
(3.39)
339
(13.35)
Carriage
Base
172.2
(6.78)
B
104.1
(4.10)
117.7
(4.63)
TU/2
(4X) M8 X 1.25-6H 12.0 (0.47)
(4X) Ø 6.8 (0.27) 45.4 (1.79) Thru
Secondary
3.35
(0.132)
Dimensions are in mm (in.)
Secondary is not centered
on base carriage.
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for linear bearing
lubrication.
25.4
(1.00)
Bumper Travel
Detail A
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for linear bearing
lubrication.
45.4
(1.79)
Ground Screw
(M5 x 0.8-6H)
6.5 max
(0.26)
210.9
(8.30)
5.6 min
(0.22)
Quantity C
Mount to base using M6 x 1.0 hardware
at 120 mm spacing and the tee-nut bar
shipped with stacked stage.
0.025 / 300 x 300 (0.001 / 12.0 x 12.0)
Flatness requirement for assembly
mounting surface.
Base
A
Table 12 - MPMA-xABxxxxxx-xxx Dimensions
Multi-axis Linear Stage
Cat. No.
A
Stage Length
(X-axis)
TL
Travel
(X-axis)
B
Stage Length
(Y-axis)
TU
Travel
(Y-axis)
C
Mounting Locations
(X-axis)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
Qty
MPMA-AABC0C0A0-S1C
641 (25.2)
200 (7.9)
641 (25.2)
200 (7.9)
10
MPMA-AABC6C6A0-S1C
701 (27.6)
260 (10.2)
701 (27.6)
260 (10.2)
MPMA-AABD2D2A0-S1C
761 (30.0)
320 (12.6)
761 (30.0)
320 (12.6)
MPMA-AABD8D8A0-S1C
821 (32.3)
380 (15.0)
821 (32.3)
380 (15.0)
MPMA-AABE4E4A0-S1C
881 (34.7)
440 (17.3)
881 (34.7)
440 (17.3)
MPMA-AABF6F6A0-S1C
1001 (39.4)
560 (22.0)
1001 (39.4)
560 (22.0)
16
MPMA-BABC0C0A0-S1C
641 (25.2)
200 (7.9)
641 (25.2)
200 (7.9)
10
MPMA-BABC6C6A0-S1C
701 (27.6)
260 (10.2)
701 (27.6)
260 (10.2)
MPMA-BABD2D2A0-S1C
761 (30.0)
320 (12.6)
761 (30.0)
320 (12.6)
MPMA-BABD8D8A0-S1C
821 (32.3)
380 (15.0)
821 (32.3)
380 (15.0)
MPMA-BABE4E4A0-S1C
881 (34.7)
440 (17.3)
881 (34.7)
440 (17.3)
MPMA-BABF6F6A0-S1C
1001 (39.4)
560 (22.0)
1001 (39.4)
560 (22.0)
12
14
12
14
16
Actuators are designed to metric dimensions. Inch dimensions are approximate
conversions from millimeters. Dimensions without tolerances are for reference.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
83
Appendix A
Specifications and Dimensions
MPMA-xACxxxxxx-xxx
Product Specifications and
Dimensions
These specifications apply to Center Stacked X/Y stages with 250 mm frame
linear motor driven X-axis and 250 mm frame linear motor driven Y-axis.
Maximum payload is 20 kg (44.0 lb). For heavier loads, contact your Rockwell
Automation sales representative.
Table 13 - MPMA-xACxxxxxx-xxx Product Specifications
Travel mm (in.)
Multi-axis Linear Stage
Cat. No.
MPMA-xACB4B4A0-S1C
X-axis
Y-axis
Bi-directional Repeatability
(µm)
Encoder Type
Z-axis
X-axis
Y-axis
N/A
5 micron resolution
incremental magnetic
linear encoder
(direct drive only)
Z-axis
X-axis
Y-axis
Z-axis
140 (5.5)
MPMA-xACC0C0A0-S1C
200 (7.9)
MPMA-xACC6C6A0-S1C
260 (10.2)
MPMA-xACD2D2A0-S1C
320 (12.6)
Weight,
Approx.
kg (lb)
62.2 (136.8)
N/A
15
15
N/A
66.0 (145.2)
69.2 (152.2)
72.2 (158.8)
Table 14 - Allowable Payload Based Upon X-axis Acceleration and Y-axis Travel
Y-axis Travel mm (in.)
X-axis Acceleration (1)
g
140
200
260
320
1.3
1.1
—
—
—
1.2
4.6
2.7
1.1
—
1.1
8.9
7.0
5.4
3.9
1.0
13.9
12.0
10.4
8.9
0.9
20.1
18.2
16.6
15.1
(1) Acceleration values are based on the motors instantaneous and average motor temperature
limits not being exceeded.
84
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 15 - MPMA-xACxxxxxx-xxx Product Dimensions
281
(11.06)
TL/2
25.4
(1.00)
Bumper Travel
TL/2
264.7
(10.42)
25.4
(1.00)
Bumper Travel
25.4
(1.00)
Bumper Travel
53.5
(2.11)
TU/2
(4X) M8 X 1.25-6H 12.0 (0.47)
(4X) Ø 6.8 (0.27) 45.4 (1.79) Thru
See Detail A
65.4
(2.57)
339
(13.35)
Carriage
130.8
(5.15)
Base
86.1
(3.39)
Base
B
248.7
(9.79)
172.2
(6.78)
104.1
(4.10)
117.7
(4.63)
TU/2
Dimensions are in mm (in.)
(4X) 9/16-12 UNC Thru (2 per end cap)
Access point for linear bearing
lubrication.
25.4
(1.00)
Bumper Travel
Secondary
45.5
(1.79)
(4X) 9/16-12 UNC Thru (2 per end cap)
Access point for linear bearing
lubrication.
Detail A
223.6
(8.80)
Ground Screw
(M5 x 0.8-6H)
5.6 min
(0.22)
Quantity C
Mount to base using M6 x 1.0 hardware
at 120 mm spacing and the tee-nut bar
shipped with stacked stage.
0.025 / 300 x 300 (0.001 / 12.0 x 12.0)
Flatness requirement for assembly
mounting surface.
Base
A
6.5 max
(0.26)
Table 16 - MPMA-xACxxxxxx-xxx Dimensions
A
Stage Length
(X-axis)
TL
Travel
(X-axis)
B
Stage Length
(Y-axis)
TU
Travel
(Y-axis)
C
Mounting Locations
(X-axis)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
Qty
MPMA-AACB4B4A0-S1C
581 (22.9)
140 (5.5)
581 (22.9)
140 (5.5)
MPMA-AACC0C0A0-S1C
641 (25.2)
200 (7.9)
641 (25.2)
200 (7.9)
MPMA-AACC6C6A0-S1C
701 (27.6)
260 (10.2)
701 (27.6)
260 (10.2)
MPMA-AACD2D2A0-S1C
761 (30.0)
320 (12.6)
761 (30.0)
320 (12.6)
MPMA-BACB4B4A0-S1C
581 (22.9)
140 (5.5)
581 (22.9)
140 (5.5)
MPMA-BACC0C0A0-S1C
641 (25.2)
200 (7.9)
641 (25.2)
200 (7.9)
MPMA-BACC6C6A0-S1C
701 (27.6)
260 (10.2)
701 (27.6)
260 (10.2)
MPMA-BACD2D2A0-S1C
761 (30.0)
320 (12.6)
761 (30.0)
320 (12.6)
Multi-axis Linear Stage
Cat. No.
10
12
10
12
Actuators are designed to metric dimensions. Inch dimensions are approximate
conversions from millimeters. Dimensions without tolerances are for reference.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
85
Appendix A
Specifications and Dimensions
MPMA-xAPxxxxxx-xxx
Product Specifications and
Dimensions
These specifications apply to Center Stacked X/Y stages with 200 mm frame
ballscrew driven X-axis and 200 mm frame ballscrew driven Y-axis. Maximum
payload is 20 kg (44.0 lb). For heavier loads, contact your Rockwell Automation
sales representative.
Table 17 - MPMA-xAPxxxxxx-xxx Product Specifications
Travel mm (in.)
Multi-axis Linear Stage
Cat. No.
MPMA-xAPB8B8A0-S1C
X-axis
Y-axis
Z-axis
Bi-directional Repeatability
(µm)
Encoder Type
X-axis
Y-axis
Z-axis
X-axis
Y-axis
Z-axis
180 (7.1)
MPMA-xAPC4C4A0-S1C
240 (9.4)
MPMA-xAPD0D0A0-S1C
300 (11.8)
MPMA-xAPE2E2A0-S1C
420 (16.5)
MPMA-xAPG6G6A0-S1C
660 (26.0)
Weight,
Approx.
kg (lb)
36.1 (79.4)
N/A
Multi-turn high
resolution encoder
absolute feedback,
128 cycle/rev.
(ballscrew only)
37.9 (83.4)
N/A
60
60
N/A
39.9 (87.8)
43.9 (96.6)
51.5 (113.3)
Table 18 - Allowable Payload Based Upon X-axis Acceleration and Y-axis Travel
Y-axis Travel mm (in.)
X-axis Acceleration (1)
g
180
240
300
420
660
4
9.4
8.4
7.4
5.4
1.4
3.8
10.5
9.5
8.5
6.5
2.5
3.6
11.8
10.8
9.8
7.8
3.8
3.4
13.2
12.2
11.2
9.2
5.2
3.2
14.8
13.8
12.8
10.8
6.8
3
16.6
15.6
14.6
12.6
8.6
2.8
18.7
17.7
16.7
14.7
10.7
2.6
21.1
20.1
19.1
17.1
13.1
2.4
23.8
22.8
21.8
19.8
15.8
2.2
27.1
26.1
25.1
23.1
19.1
(1) Acceleration values are based on the motors instantaneous and average motor temperature limits not being
exceeded. Do not exceed 1.1 m/s maximum velocity of ballscrew axis.
86
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 19 - MPMA-xAPxxxxxx-xxx Product Dimensions
232
(9.13)
25.4
(1.00)
Bumper Travel
TL/2
TL/2
215.7
(8.49)
25.4
(1.00)
Bumper Travel
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for linear bearing
lubrication.
25.4
(1.00)
Bumper Travel
Ø13.0 (0.5)
Access point for ballscrew
nut lubrication.
TU/2
44.2
(1.74)
75.3
(2.97)
See Detail A
61.5
(2.42)
B
130.8
Base (5.15)
239
(9.4)
Carriage
Base 130.8
(5.15) 199.7
(7.86)
69.7
(2.74)
TU/2
(4X) M8 X 1.25-6H 12.0 (0.47)
(4X) Ø 6.8 (0.27) 45.1 (1.78) Thru
Mounting holes are not
centered on carriage.
121.7
(4.79)
Secondary
Secondary is not centered
on base carriage.
Ground Screw
(M5 x 0.8-6H)
6.6
(0.26)
45.1
(1.78)
Dimensions are in mm (in.)
101.6
(4.00)
Clearance envelope required for
connectors at orientation shown.
Quantity C
Mount to base using M6 x 1.0
hardware at 120 mm spacing.
25.4
(1.00)
Bumper Travel
Detail A
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for linear bearing
lubrication.
210.9
(8.30)
Base
A
6.0 max
(0.24)
5.22 min
(0.21)
Quantity C
Mount to base using M6 x 1.0 hardware
at 120 mm spacing and the tee-nut bar
shipped with stacked stage.
0.025 / 300 x 300 (0.001 / 12.0 x 12.0)
Flatness requirement for assembly
mounting surface.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
87
Appendix A
Specifications and Dimensions
Table 20 - MPMA-xAPxxxxxx-xxx Dimensions
A
Stage Length
(X-axis)
TL
Travel
(X-axis)
B
Stage Length
(Y-axis)
TU
Travel
(Y-axis)
C
Mounting Locations
(X-axis)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
Qty
MPMA-AAPB8B8A0-S1C
521 (20.5)
180 (7.1)
521 (20.5)
180 (7.1)
8
MPMA-AAPC4C4A0-S1C
581 (22.9)
240 (9.4)
581 (22.9)
240 (9.4)
MPMA-AAPD0D0A0-S1C
641 (25.2)
300 (11.8)
641 (25.2)
300 (11.8)
MPMA-AAPE2E2A0-S1C
761 (30.0)
420 (16.5)
761 (30.0)
420 (16.5)
12
MPMA-AAPG6G6A0-S1C
1001 (39.4)
660 (26.0)
1001 (39.4)
660 (26.0)
16
MPMA-BAPB8B8A0-S1C
521 (20.5)
180 (7.1)
521 (20.5)
180 (7.1)
8
MPMA-BAPC4C4A0-S1C
581 (22.9)
240 (9.4)
581 (22.9)
240 (9.4)
MPMA-BAPD0D0A0-S1C
641 (25.2)
300 (11.8)
641 (25.2)
300 (11.8)
MPMA-BAPE2E2A0-S1C
761 (30.0)
420 (16.5)
761 (30.0)
420 (16.5)
12
MPMA-BAPG6G6A0-S1C
1001 (39.4)
660 (26.0)
1001 (39.4)
660 (26.0)
16
Multi-axis Linear Stage
Cat. No.
10
10
Actuators are designed to metric dimensions. Inch dimensions are approximate
conversions from millimeters. Dimensions without tolerances are for reference.
88
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
MPMA-xCBxxxxxx-xxx
Product Specifications and
Dimensions
Appendix A
These specifications apply to Cartesian Stacked X/Y stages with 250 mm frame
linear motor driven X-axis and 200 mm frame linear motor driven Y-axis.
Maximum payload is 20 kg (44.0 lb). For heavier loads, contact your Rockwell
Automation sales representative.
Table 21 - MPMA-xCBxxxxxx-xxx Product Specifications
Travel mm (in.)
Multi-axis Linear Stage
Cat. No.
X-axis
MPMA-xCBD2D2A0-S1C
320 (12.6)
MPMA-xCBE4D2A0-S1C
MPMA-xCBE4E4A0-S1C
MPMA-xCBF6E4A0-S1C
MPMA-xCBG8E4A0-S1C
MPMA-xCBG8F6A0-S1C
Y-axis
Bi-directional Repeatability
(µm)
Encoder Type
Z-axis
X-axis
Y-axis
Z-axis
X-axis
Y-axis
Z-axis
69.7 (153.3)
320 (12.6)
72.7 (159.9)
440 (17.3)
560 (22.0)
74.9 (164.7)
440 (17.3)
680 (26.8)
MPMA-xCBI0F6A0-S1C
800 (31.5)
MPMA-xCBJ2F6A0-S1C
920 (36.2)
Weight,
Approx.
kg (lb)
N/A
5 micron resolution
incremental magnetic
linear encoder
(direct drive only)
N/A
15
15
N/A
78.4 (172.4)
81.4 (179.0)
83.7 (184.1)
560 (22.0)
87.2 (191.8)
90.3 (198.6)
Table 22 - Allowable Payload Based Upon X-axis Acceleration and Y-axis Travel
Y-axis Travel mm (in.)
X-axis Acceleration (1)
g
320
440
560
1.1
4.1
1.9
—
1.0
9.1
6.9
4.6
0.9
15.3
13.1
10.8
0.8
23.0
20.8
18.5
(1) Acceleration values are based on the motors instantaneous and average
motor temperature limits not being exceeded.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
89
Appendix A
Specifications and Dimensions
Table 23 - MPMA-xCBxxxxxx-xxx Product Dimensions
TL/2
25.4
(1.00)
Bumper Travel
(4X) M8 X 1.25-6H 12.0 (0.47)
(4X) Ø 6.8 (0.27) 45.1 (1.77) Thru
TL/2
25.4
(1.00)
Bumper Travel
TU/2
(4X) 9/16-12 UNC Thru
(2 per end cap)
Access point for linear
bearing lubrication.
104.1
(4.10)
Secondary
130.8
(5.15)
See Detail A
248.7
(9.79)
172.2 Base
(6.78)
B
Secondary
339
(13.3)
Carriage
198
(7.8)
86.1
(3.39)
117.7
(4.63)
215.7
(8.49)
121.9
(4.80)
232
(9.13)
Detail A
6.5 max
(0.26)
Quantity C
Mount to base using M6 x 1.0 hardware
at 120 mm spacing and the tee-nut bar
shipped with stacked stage.
Base
TU/2
25.4
(1.00)
Bumper Travel
Dimensions are in mm (in.)
45.1
(1.77)
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for linear bearing
lubrication.
411.1
(16.18)
5.6 min
(0.22)
32.5
(1.28)
Ground Screw
(M5 x 0.8-6H)
0.025 / 300 x 300 (0.001 / 12.0 x 12.0)
Flatness requirement for assembly
mounting surface.
93.9
(3.7)
Base
Position of secondary (Y) axis carriage at
center of travel of base (X) axis.
A
90
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 24 - MPMA-xCBxxxxxx-xxx Dimensions
A
Stage Length
(X-axis)
TL
Travel
(X-axis)
B
Stage Length
(Y-axis)
TU
Travel
(Y-axis)
C
Mounting Locations
(X-axis)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
Qty
761 (30.0)
320 (12.6)
761 (30.0)
320 (12.6)
881 (34.7)
440 (17.3)
1001 (39.4)
560 (22.0)
1121 (44.1)
680 (26.8)
MPMA-ACBI0F6A0-S1C
1241 (48.9)
800 (31.5)
MPMA-ACBJ2F6A0-S1C
1361 (53.6)
920 (36.2)
MPMA-BCBD2D2A0-S1C
761 (30.0)
320 (12.6)
881 (34.7)
440 (17.3)
1001 (39.4)
560 (22.0)
1121 (44.1)
680 (26.8)
MPMA-BCBI0F6A0-S1C
1241 (48.9)
800 (31.5)
MPMA-BCBJ2F6A0-S1C
1361 (53.6)
920 (36.2)
Multi-axis Linear Stage
Cat. No.
MPMA-ACBD2D2A0-S1C
MPMA-ACBE4D2A0-S1C
MPMA-ACBE4E4A0-S1C
MPMA-ACBF6E4A0-S1C
MPMA-ACBG8E4A0-S1C
MPMA-ACBG8F6A0-S1C
MPMA-BCBE4D2A0-S1C
MPMA-BCBE4E4A0-S1C
MPMA-BCBF6E4A0-S1C
MPMA-BCBG8E4A0-S1C
MPMA-BCBG8F6A0-S1C
12
14
881 (34.7)
440 (17.3)
16
18
1001 (39.4)
560 (22.0)
20
22
761 (30.0)
320 (12.6)
12
14
881 (34.7)
440 (17.3)
16
18
1001 (39.4)
560 (22.0)
20
22
Actuators are designed to metric dimensions. Inch dimensions are approximate
conversions from millimeters. Dimensions without tolerances are for reference.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
91
Appendix A
Specifications and Dimensions
MPMA-xCQxxxxxx-xxx
Product Specifications and
Dimensions
These specifications apply to Cartesian Stacked X/Y stages with 250 mm frame
ballscrew driven X-axis and 200 mm frame ballscrew driven Y-axis. Maximum
payload is 25 kg (55.1 lb). For heavier loads, contact your Rockwell Automation
sales representative.
Table 25 - MPMA-xCQxxxxxx-xxx Product Specifications
Travel mm (in.)
Multi-axis Linear Stage
Cat. No.
X-axis
MPMA-xCQD0D0A0-S1C
300 (11.8)
MPMA-xCQE2D0A0-S1C
MPMA-xCQE2E2A0-S1C
MPMA-xCQG6E2A0-S1C
MPMA-xCQG6G6A0-S1C
Y-axis
Z-axis
420 (16.5)
660 (26.0)
780 (30.7)
MPMA-xCQJ0G6A0-S1C
900 (35.4)
X-axis
Y-axis
Z-axis
X-axis
Y-axis
Z-axis
Weight,
Approx.
kg (lb)
51.7 (113.7)
300 (11.8)
54.3 (119.4)
420 (16.5)
MPMA-xCQH8G6A0-S1C
Bi-directional Repeatability
(µm)
Encoder Type
N/A
Multi-turn high
resolution encoder
absolute feedback,
128 cycle/rev.
(ballscrew only)
56.3 (123.8)
N/A
60
60
N/A
61.4 (135.0)
65.2 (143.4)
660 (26.0)
67.7 (148.9)
70.2 (154.4)
Table 26 - Allowable Payload Based Upon X-axis Acceleration and Y-axis Travel
Y-axis Travel mm (in.)
X-axis Acceleration (1)
g
300
420
660
4
10.0
12.0
16.0
3.8
7.4
5.4
1.4
3.6
8.5
6.5
2.5
3.4
9.8
7.8
3.8
3.2
11.2
9.2
5.2
3
12.8
10.8
6.8
2.8
14.6
12.6
8.6
2.6
16.7
14.7
10.7
2.4
19.1
17.1
13.1
2.2
21.8
19.8
15.8
2
25.1
23.1
19.1
(1) Acceleration values are based on the motors instantaneous and average
motor temperature limits not being exceeded. Do not exceed 1.1 m/s
maximum velocity of ballscrew axis.
92
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 27 - MPMA-xCQxxxxxx-xxx Product Dimensions
25.4
(1.00)
Bumper Travel
25.4
(1.00)
Bumper Travel
(4X) M8 X 1.25-6H 12.0 (0.47)
(4X) Ø 6.8 (0.27) 45.1 (1.77) Thru
Mounting holes are not
centered on carriage.
(4X) 9/16-12 UNC Thru
(2 per end cap)
Access point for linear
bearing lubrication.
TL/2
TL/2
25.4
(1.00)
Bumper Travel
TU/2 44.2
(1.74)
75.3
239
(2.96) 130.8 (9.4)
239
(5.15) (9.4)
Carriage
Secondary
B
Secondary
298.7
(11.76)
See Detail A
TU/2
248.7
(9.79) 172.2 Base
(6.78)
86.8
(3.42)
Base
121.7
(4.79)
69.7
(2.74)
25.4
(1.00)
Bumper Travel
Cable 101.6
Clearance (4.00)
215.7
(8.49)
232
(9.13)
121.6
(4.79)
Dimensions are in mm (in.)
(4X) M10 x 1.5-6H Thru
(2 per end cap)
Access point for linear
bearing lubrication.
Detail A
6.5 max
(0.26)
353.6
(13.92)
Ground Screw
(M5 x 0.8-6H)
5.6 min
(0.22)
Quantity C
Mount to base using M6 x 1.0 hardware
at 120 mm spacing and the tee-nut bar
shipped with stacked stage.
0.025 / 300 x 300 (0.001 / 12.0 x 12.0)
Flatness requirement for assembly
mounting surface.
136.1
Base
(5.36)
Position of secondary (Y) axis carriage at
center of travel of base (X) axis.
A
Table 28 - MPMA-xCQxxxxxx-xxx Dimensions
A
Stage Length
(X-axis)
TL
Travel
(X-axis)
B
Stage Length
(Y-axis)
TU
Travel
(Y-axis)
C
Mounting Locations
(X-axis)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
Qty
MPMA-ACQD0D0A0-S1C
641 (25.2)
300 (11.8)
641 (25.2)
300 (11.8)
10
MPMA-ACQE2D0A0-S1C
761 (30.0)
420 (16.5)
1001 (39.4)
660 (26.0)
1121 (44.1)
780 (30.7)
Multi-axis Linear Stage
Cat. No.
MPMA-ACQE2E2A0-S1C
MPMA-ACQG6E2A0-S1C
761 (30.0)
MPMA-ACQG6G6A0-S1C
MPMA-ACQH8G6A0-S1C
1241 (48.9)
900 (35.4)
MPMA-BCQD0D0A0-S1C
641 (25.2)
300 (11.8)
MPMA-BCQE2D0A0-S1C
761 (30.0)
420 (16.5)
MPMA-BCQE2E2A0-S1C
1001 (39.4)
420 (16.5)
16
1001 (39.4)
MPMA-ACQJ0G6A0-S1C
MPMA-BCQG6E2A0-S1C
12
660 (26.0)
18
20
641 (25.2)
300 (11.8)
761 (30.0)
420 (16.5)
1001 (39.4)
660 (26.0)
12
660 (26.0)
MPMA-BCQG6G6A0-S1C
10
16
MPMA-BCQH8G6A0-S1C
1121 (44.1)
780 (30.7)
18
MPMA-BCQJ0G6A0-S1C
1241 (48.9)
900 (35.4)
20
Actuators are designed to metric dimensions. Inch dimensions are approximate
conversions from millimeters. Dimensions without tolerances are for reference.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
93
Appendix A
Specifications and Dimensions
MPMA-xBExxxxxx-xxx
Product Specifications and
Dimensions
These specifications apply to Center Stacked X/Z stages with 200 mm frame
linear motor driven X-axis and 150 mm frame ballscrew driven Z-axis. Maximum
payload is 20 kg (44.0 lb). For heavier loads, contact your Rockwell Automation
sales representative.
Table 29 - MPMA-xBExxxxxx-xxx Product Specifications
Travel mm (in.)
Bi-directional
Repeatability (µm)
Encoder Type
Multi-axis Linear
Stage Cat. No.
X-axis
Y-axis
Z-axis
X-axis
Y-axis
Z-axis
MPMA-xBED2A0B8-S2C
320 (12.6)
N/A
180 (7.1)
5 micron
resolution
incremental
magnetic linear
encoder
(direct drive
only)
N/A
Multi-turn high 15
resolution
encoder
absolute
feedback,
128 cycle/rev.
(ballscrew only)
MPMA-xBED2A0D0-S2C
MPMA-xBEE4A0B8-S2C
300 (11.8)
440 (17.3)
MPMA-xBEE4A0D0-S2C
MPMA-xBEG8A0B8-S2C
MPMA-xBEG8A0D0-S2C
180 (7.1)
300 (11.8)
680 (26.8)
X-axis
Y-axis
Z-axis
Weight,
Approx.
kg (lb)
N/A
60
44.5 (98.0)
46.2 (101.7)
46.7 (102.8)
48.4 (106.6)
180 (7.1)
51.2 (112.7)
300 (11.8)
52.9 (116.9)
Table 30 - Allowable Payload Based Upon X-axis Acceleration and Z-axis Travel
Z-axis Travel mm (in.)
X-axis Acceleration (1)
g
180
300
1.3
0.2
—
1.2
2.6
0.9
1.1
5.4
3.7
1.0
8.9
7.2
0.9
13.1
11.4
(1) Acceleration values are based on the motors instantaneous
and average motor temperature limits not being exceeded.
94
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 31 - MPMA-xBExxxxxx-xxx Product Dimensions
181.5
(7.15)
TL/2
25.4
(1.00)
Bumper Travel
TL/2
30.0
(1.18)
Bumper Travel
25.4
(1.00)
Bumper Travel
165
(6.5)
(4X) Ø 7.00 (0.276) Thru
65.0
(2.56)
62.15
(2.45)
B
239
(9.4)
Carriage
165
(6.5)
Base
See Detail A
TU/2
82.5
(3.25)
Base 130.8
(5.15)
130
(5.12)
117.7
(4.63)
TU/2
(4X) M10 x 1.25 Thru
(2 per end cap)
Access point for linear
bearing lubrication.
(4X) M8 X 1.25-6H 12.0 (0.47)
163.1
(6.42)
30.0
(1.18)
Bumper Travel
Dimensions are in mm (in.)
Clearance required for connectors
at orientation shown.
25.4
(1.00)
45.1
(1.78)
Secondary
(4X) M10 x 1.25 Thru
(2 per end cap)
Access point for linear
bearing lubrication.
Detail A
241.3
(9.50)
Ground Screw
(M5 x 0.8-6H)
6.0 max
(0.24)
5.22 min
(0.21)
Quantity C
Mount to base using M6 x 1.0 hardware
at 120 mm spacing and the tee-nut bar
shipped with stacked stage.
0.025 / 300 x 300 (0.001 / 12.0 x 12.0)
Flatness requirement for assembly
mounting surface.
Base
A
199.7
(7.86)
Table 32 - MPMA-xBExxxxxx-xxx Dimensions
Multi-axis Linear Stage
Cat. No.
MPMA-ABED2A0B8-S2C
A
Stage Length
(X-axis)
TL
Travel
(X-axis)
mm (in.)
mm (in.)
mm (in.)
Qty
320 (12.6)
530 (20.9)
180 (7.1)
12
650 (25.6)
300 (11.8)
881 (34.7)
440 (17.3)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
1121 (44.1)
680 (26.8)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
761 (30.0)
320 (12.6)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
881 (34.7)
440 (17.3)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
1121 (44.1)
680 (26.8)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
MPMA-ABEG8A0D0-S2C
MPMA-BBED2A0B8-S2C
MPMA-BBED2A0D0-S2C
MPMA-BBEE4A0B8-S2C
MPMA-BBEE4A0D0-S2C
MPMA-BBEG8A0B8-S2C
MPMA-BBEG8A0D0-S2C
C
Mounting Locations
(X-axis)
mm (in.)
MPMA-ABEE4A0D0-S2C
MPMA-ABEG8A0B8-S2C
TU
Travel
(Z-axis)
761 (30.0)
MPMA-ABED2A0D0-S2C
MPMA-ABEE4A0B8-S2C
B
Stage Length
(Z-axis)
14
18
12
14
18
Actuators are designed to metric dimensions. Inch dimensions are approximate
conversions from millimeters. Dimensions without tolerances are for reference.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
95
Appendix A
Specifications and Dimensions
MPMA-xBIxxxxxx-xxx
Product Specifications and
Dimensions
These specifications apply to Center Stacked X/Z stages with 200 mm frame
ballscrew driven X-axis and 150 mm frame ballscrew driven Z-axis. Maximum
payload is 25 kg (55.1 lb). For heavier loads, contact your Rockwell Automation
sales representative.
Table 33 - MPMA-xBIxxxxxx-xxx Product Specifications
Travel mm (in.)
Multi-axis Linear
Stage Cat. No.
X-axis
Y-axis
Z-axis
X-axis
MPMA-xBID0A0B8-S2C
300 (11.8)
N/A
180 (7.1)
Multi-turn high N/A
resolution
encoder
absolute
feedback,
128 cycle/rev.
(ballscrew only)
MPMA-xBID0A0D0-S2C
MPMA-xBIE2A0B8-S2C
300 (11.8)
420 (16.5)
MPMA-xBIE2A0D0-S2C
MPMA-xBIG6A0B8-S2C
MPMP-xBIG6A0D0-S2C
180 (7.1)
300 (11.8)
660 (26.0)
Bi-directional
Repeatability (µm)
Encoder Type
Y-axis
Z-axis
X-axis
Multi-turn high 60
resolution
encoder
absolute
feedback,
128 cycle/rev.
(ballscrew only)
Y-axis
Z-axis
Weight,
Approx.
kg (lb)
N/A
60
37.7 (83.0)
39.4 (86.8)
39.7 (87.4)
41.4 (91.2)
180 (7.1)
43.5 (95.8)
300 (11.8)
45.2 (99.5)
Table 34 - Allowable Payload Based Upon X-axis Acceleration and Z-axis Travel
Z-axis Travel mm (in.)
X-axis Acceleration (1)
g
180
300
4
2.0
0.3
3.8
3.1
1.4
3.6
4.4
2.7
3.4
5.8
4.1
3.2
7.4
5.7
3
9.2
7.5
2.8
11.3
9.6
2.6
13.7
12.0
2.4
16.4
14.7
2.2
19.7
18.0
2
23.7
22.0
(1) Acceleration values are based on the motors instantaneous
and average motor temperature limits not being exceeded. Do
not exceed 1.1 m/s maximum velocity of ballscrew axis.
96
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 35 - MPMA-xBIxxxxxx-xxx Product Dimensions
25.4
(1.00)
Bumper Travel
181.5
(7.15)
165
(6.5)
TL/2
TL/2
37.0
(1.46)
(4X) Ø7.00 (0.276) Thru
65.0
(2.56)
Base
(4X) M10 x 1.25 Thru (2 per end cap)
Access point for linear bearing
lubrication.
30.0
(1.18)
Bumper Travel
25.4
(1.00)
Bumper Travel
Ø13.0 (0.5)
Access point for ballscrew
nut lubrication.
TU/2
82.5
(3.25)
62.1
(2.45)
B
239
(9.4)
Carriage
165
(6.5)
Base
130.8
(5.15) 199.7
(7.86)
130
(5.12)
69.7
(2.74)
TU/2
(4X) M8 X 1.25-6H 12.0 (0.47)
163.1
(6.42)
Dimensions are in mm (in.)
See Detail A
30.0
(1.18)
Bumper Travel
25.4
(1.00)
Secondary
(4X) M10 x 1.25 Thru
(2 per end cap)
Access point for linear
bearing lubrication.
Clearance required for connectors
at orientation shown.
Detail A
45.1
(1.78)
Ground Screw
(M5 x 0.8-6H)
6.0 max
(0.24)
241.3
(9.50)
0.025 / 300 x 300 (0.001 / 12.0 x 12.0)
Flatness requirement for assembly
mounting surface.
Base
A
5.22 min
(0.21)
Quantity C
Mount to base using M6 x 1.0 hardware
at 120 mm spacing and the tee-nut bar
shipped with stacked stage.
Table 36 - MPMA-xBIxxxxxx-xxx Dimensions
Multi-axis Linear Stage
Cat. No.
MPMA-ABID0A0B8-S2C
A
Stage Length
(X-axis)
TL
Travel
(X-axis)
B
Stage Length
(Z-axis)
TU
Travel
(Z-axis)
C
Mounting Locations
(X-axis)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
Qty
641 (25.2)
300 (11.8)
530 (20.9)
180 (7.1)
10
650 (25.6)
300 (11.8)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
MPMA-ABID0A0D0-S2C
MPMA-ABIE2A0B8-S2C
761 (30.0)
420 (16.5)
MPMA-ABIE2A0D0-S2C
MPMA-ABIG6A0B8-S2C
1001 (39.4)
660 (26.0)
MPMA-ABIG6A0D0-S2C
MPMA-BBID0A0B8-S2C
641 (25.2)
300 (11.8)
MPMA-BBID0A0D0-S2C
MPMA-BBIE2A0B8-S2C
761 (30.0)
420 (16.5)
MPMA-BBIE2A0D0-S2C
MPMA-BBIG6A0B8-S2C
MPMA-BBIG6A0D0-S2C
1001 (39.4)
660 (26.0)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
12
16
10
12
16
Actuators are designed to metric dimensions. Inch dimensions are approximate
conversions from millimeters. Dimensions without tolerances are for reference.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
97
Appendix A
Specifications and Dimensions
MPMA-xBDxxxxxx-xxx
Product Specifications and
Dimensions
These specifications apply to Center Stacked X/Z stages with 250 mm frame
linear motor driven X-axis and 150 mm frame ballscrew driven Z-axis. Maximum
payload is 20 kg (44.0 lb). For heavier loads, contact your Rockwell Automation
sales representative.
Table 37 - MPMA-xBDxxxxxx-xxx Product Specifications
Travel mm (in.)
Bi-directional
Repeatability (µm)
Encoder Type
Multi-axis Linear
Stage Cat. No.
X-axis
Y-axis
Z-axis
X-axis
Y-axis
Z-axis
MPMA-xBDD2A0B8-S2C
320 (12.6)
N/A
180 (7.1)
5 micron
resolution
incremental
magnetic linear
encoder
(direct drive
only)
N/A
Multi-turn high 15
resolution
encoder
absolute
feedback,
128 cycle/rev.
(ballscrew only)
MPMA-xBDD2A0D0-S2C
MPMA-xBDE4A0B8-S2C
300 (11.8)
440 (17.3)
180 (7.1)
X-axis
Y-axis
Z-axis
Weight,
Approx.
kg (lb)
N/A
60
52.2 (114.9)
53.9 (118.7)
55.2 (121.5)
MPMA-xBDE4A0D0-S2C
300 (11.8)
MPMA-xBDE4A0E2-S2C
420 (16.5)
58.6 (129.0)
180 (7.1)
61.7 (135.8)
MPMA-xBDG8A0D0-S2C
300 (11.8)
63.4 (139.6)
MPMA-xBDG8A0E2-S2C
420 (16.5)
65.1 (143.3)
180 (7.1)
65.2 (143.5)
MPMA-xBDI0A0D0-S2C
300 (11.8)
66.9 (147.3)
MPMA-xBDI0A0E2-S2C
420 (16.5)
68.6 (151.0)
300 (11.8)
70.0 (154.1)
MPMA-xBDJ2A0E2-S2C
420 (16.5)
71.7 (157.8)
MPMA-xBDJ2A0F4-S2C
540 (21.3)
73.5 (161.8)
MPMA-xBDG8A0B8-S2C
MPMA-xBDI0A0B8-S2C
MPMA-xBDJ2A0D0-S2C
680 (26.8)
800 (31.5)
920 (36.2)
56.9 (125.3)
Table 38 - Allowable Payload Based Upon X-axis Acceleration and Z-axis Travel
Z-axis Travel mm (in.)
X-axis Acceleration (1)
g
180
300
420
540
1.8
0.5
—
—
—
1.7
2.3
0.6
—
—
1.6
4.4
2.7
1.0
—
1.5
6.7
5.0
3.3
—
1.4
9.4
7.7
6.0
2.5
1.3
12.5
10.8
9.1
5.6
1.2
16.0
14.3
12.6
9.1
1.1
20.3
18.6
16.9
13.4
1.0
25.4
23.7
22.0
18.5
(1) Acceleration values are based on the motors instantaneous and average motor temperature
limits not being exceeded.
98
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 39 - MPMA-xBDxxxxxx-xxx Product Dimensions
25.4
(1.00)
Bumper Travel
181.5
(7.15)
TL/2
TL/2
165
(6.5)
30.0
(1.18)
Bumper Travel
25.4
(1.00)
Bumper Travel
(4X) 9/16-12 UNC Thru (2 per end cap)
Access point for linear bearing
lubrication.
(4X) Ø7.00 (0.276) Thru
See Detail A
TU/2
82.5
(3.25)
65
(2.56)
Base
86.1
(3.39)
239
(9.4)
Carriage
165
(6.5)
248.7
(9.79)
Base
B
172.2
(6.78)
130
(5.12)
(4X) M6 X 1.25-6H 12.0 (0.47)
Dimensions are in mm (in.)
163.1
(6.42)
30.0
(1.18)
Bumper Travel
Clearance required for connectors
at orientation shown.
25.4
(1.00)
45.1
(1.78)
Secondary
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for linear bearing
lubrication.
Detail A
6.0 max
(0.24)
241.3
(9.50)
Ground Screw
(M5 x 0.8-6H)
Base
A
117.7
(4.63)
TU/2
0.025 / 300 x 300 (0.001 / 12.0 x 12.0)
Flatness requirement for assembly
mounting surface.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
5.22 min
(0.21)
Quantity C
Mount to base using M6 x 1.0 hardware
at 120 mm spacing and the tee-nut bar
shipped with stacked stage.
99
Appendix A
Specifications and Dimensions
Table 40 - MPMA-xBDxxxxxx-xxx Dimensions
A
Stage Length
(X-axis)
TL
Travel
(X-axis)
B
Stage Length
(Z-axis)
TU
Travel
(Z-axis)
C
Mounting Locations
(X-axis)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
Qty
761 (30.0)
320 (12.6)
530 (20.9)
180 (7.1)
12
650 (25.6)
300 (11.8)
530 (20.9)
180 (7.1)
MPMA-ABDE4A0D0-S2C
650 (25.6)
300 (11.8)
MPMA-ABDE4A0E2-S2C
770 (30.3)
420 (16.5)
530 (20.9)
180 (7.1)
MPMA-ABDG8A0D0-S2C
650 (25.6)
300 (11.8)
MPMA-ABDG8A0E2-S2C
770 (30.3)
420 (16.5)
530 (20.9)
180 (7.1)
MPMA-ABDI0A0D0-S2C
650 (25.6)
300 (11.8)
MPMA-ABDI0A0E2-S2C
770 (30.3)
420 (16.5)
650 (25.6)
300 (11.8)
MPMA-ABDJ2A0E2-S2C
770 (30.3)
420 (16.5)
MPMA-ABDJ2A0F4-S2C
890 (35.0)
540 (21.3)
530 (20.9)
180 (7.1)
650 (25.6)
300 (11.8)
530 (20.9)
180 (7.1)
MPMA-BBDE4A0D0-S2C
650 (25.6)
300 (11.8)
MPMA-BBDE4A0E2-S2C
770 (30.3)
420 (16.5)
530 (20.9)
180 (7.1)
MPMA-BBDG8A0D0-S2C
650 (25.6)
300 (11.8)
MPMA-BBDG8A0E2-S2C
770 (30.3)
420 (16.5)
530 (20.9)
180 (7.1)
MPMA-BBDI0A0D0-S2C
650 (25.6)
300 (11.8)
MPMA-BBDI0A0E2-S2C
770 (30.3)
420 (16.5)
650 (25.6)
300 (11.8)
MPMA-BBDJ2A0E2-S2C
770 (30.3)
420 (16.5)
MPMA-BBDJ2A0F4-S2C
890 (35.0)
540 (21.3)
Multi-axis Linear Stage
Cat. No.
MPMA-ABDD2A0B8-S2C
MPMA-ABDD2A0D0-S2C
MPMA-ABDE4A0B8-S2C
MPMA-ABDG8A0B8-S2C
MPMA-ABDI0A0B8-S2C
MPMA-ABDJ2A0D0-S2C
MPMA-BBDD2A0B8-S2C
881 (34.7)
1121 (44.1)
1241 (48.9)
1361 (53.6)
761 (30.0)
440 (17.3)
680 (26.8)
800 (31.5)
920 (36.2)
320 (12.6)
MPMA-BBDD2A0D0-S2C
MPMA-BBDE4A0B8-S2C
MPMA-BBDG8A0B8-S2C
MPMA-BBDI0A0B8-S2C
MPMA-BBDJ2A0D0-S2C
881 (34.7)
1121 (44.1)
1241 (48.9)
1361 (53.6)
440 (17.3)
680 (26.8)
800 (31.5)
920 (36.2)
14
18
20
22
12
14
18
20
22
Actuators are designed to metric dimensions. Inch dimensions are approximate
conversions from millimeters. Dimensions without tolerances are for reference.
100
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Specifications and Dimensions
Appendix A
Table 41 - Brake Specifications for Ball Screw Linear Stage Motors
Brake Response Time
Backlash
(brake
engaged)
Motor Cat. No.
MPAS-xxxxxx-V05xA
MPAS-xxxxxx-V20xA
Release
Engage Suppression
via MOV
Engage Suppression
via Diode
A
ms
ms
ms
0.46…0.56
50
20
42
Holding Force
Coil Current
(at 24V dc)
µm (in.)
N (lb)
100 (0.004)
5187 (1166)
1294 (291)
Table 42 - Environmental Specifications for Multi-axis Stages
Attribute
Value
Ambient temperature
0…40 °C (32…104 °F)
Storage temperature
-30…70 °C (-22…158 °F)
Relative humidity
5%…95% noncondensing
Shock
20 g peak, 6 ms duration
Vibration
0.1 grms @ Hz, 30…2000 Hz
Ball screw lifetime
300,000 krevs, with a 11.4 kg (25 lb) max load, 1g max acceleration,
in a clean and dry environment, with lubrication intervals that do
not exceed 150,000 krevs or 3 months.
Cable carrier lifetime
10,000,000 cycles
Direct drive linear stages require lubrication every 6 months of
5,000 km of travel. Ball screw linear stages require lubrication
every 3 months or 150,000,000 revolutions. Use the MP-Series
Integrated Linear Stage grease pump kit, and additional grease
cartridges if needed.
Pressurized air
(ball screw only)
Plastic air tubing should be 6 mm (0.2362 in.) OD Teflon FEP tubing.
Air supplied to the stage should not exceed 270 kpa (40 psi).
Maximum flow rate 15 SCFM based on 4mm ID tube and 0.5m max
length.
PTC Thermal Signal
Temperature °C (°F)
Resistance in Ohms (1)
Up to 100 (212)
≤ 750
Up to 105 (221)
≤ 7500
Up to 110 (230)
≥ 10,000
(1) Measure the resistance of the thermistor in a direct drive linear stage on the feedback connector at pins 13 and
14 respectively; see Feedback Connector for Direct Drive Linear Stage on page 44 for more information.
Certifications
Refer to the Initiator Product Certification website, http://www.ab.com, for
Declarations of Conformity Certificates applicable to this product.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
101
Appendix A
Specifications and Dimensions
Notes:
102
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Appendix
B
Accessories
Introduction
This chapter shows accessories for the stacked stages.
Interconnect Cables
Topic
Page
Interconnect Cables
103
Installation, Maintenance, and Replacement Kits
106
Linear stages connect to a drive through a power and a feedback cables.
Power Cable Dimensions, Pinout, and Schematic
(2090-XXNPMF-16Sxx)
You can use a cable length of up to 10 m (32.8 ft) for MPAS-xxxxxx-ALMxxx
and up to 30 m (98.4 ft) for MPAS-xxxxxx-Vxxxxx.
Brown
Black
Cable Shield
(overall)
75 (2.9)
Blue
Green/Yellow
MBRK+
MBRK-
75 (2.9)
Start of Bend Radius
28.0 (1.1)
Connector
Diameter
Bend Radius1
Cable Shield
(for brake wires, not used for linear motor stages)
142 (5.59)
14.0 (0.55)
E
H F
L
Cable
Diameter
A
B
C
U
V
W
GND
16 AWG
16 AWG
16 AWG
16 AWG
Brown
Black
Blue
Green/Yellow
F
G
MBRK+
MBRK-
18 AWG
18 AWG
White
Black
18 AWG
18 AWG
White
Red
U
V
W
GND
C
G
B
MBRK+
MBRK-
A
E
H
L
Dimensions are in mm (in.)
Denotes shield wire
Denotes wire splice (Heatshrink insulates wire-to-wire splices.)
1
1
2
N/C
Connector Backshell
Shielded 360°
Bend radius (BR) is the specified minimum bend radius for cable assemblies. For standard cable, BR is a onetime flex application. Flex cables have a much higher BR to withstand flex applications.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
103
Appendix B
Accessories
Table 43 - Power Cable Pinout (2090-XXNPMF-16Sxx)
104
Pin
Gauge
Color
Signal Designation
A
16
Brown
U
B
16
Black
V
C
16
Blue
W
GND
16
Green/Yellow
GND
F
18
White
MBRK+
G
18
Black
MBRK-
E
18
White
1
H
18
Red
2
L
N/A
N/A
N/A
SHIELD
N/A
N/A
N/A
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Brake
Not used
Appendix B
Accessories
Feedback Cable Dimensions, Pinout, and Schematic
(2090-XXNFMF-Sxx)
You can use a cable length of up to 10 m (32.8 ft) for MPAS-xxxxxx-ALMxxx
and up to 30 m (98.4 ft) for MPAS-xxxxxx-Vxxxxx.
54
(2.1)
Start of
Bend Radius
Dimensions are in mm (in.)
57
(2.2)
Bend Radius 1
99
(3.9)
26
(1.0)
Connector
Diameter
1
2
3
4
5
6
9
10
11
13
14
15
16
17
7
8
12
10
(0.4)
Cable
Diameter
SIN+
SINCOS+
COSDATA+
DATAEPWR 5V
ECOM
EPWR 9V
TS+
TSS1
S2
S3
LIMIT+
LIMITCOM
22 AWG
22 AWG
22 AWG
N/C
N/C
Motor connector backshell
shielded 360°
1
Black
White/Black
Red
White/Red
Green
White/Green
Grey
White/Grey
Orange
White/Orange
Blue
White/Blue
Yellow
White/Yellow
Brown
White/Brown
28 AWG
28 AWG
Violet
White/Violet
28 AWG
Drain
SIN+
SINCOS+
COSDATA+
DATAEPWR 5V
ECOM
EPWR 9V
TS+
N/C
S1
S2
S3
LIMIT+
LIMIT-
22 AWG Jumper
Connects 10, 12, 14
N/C
1 12 11
16 10
2 13
9
3
14
15
8
17
4
7
5
6
28 AWG
28 AWG
28 AWG
28 AWG
28 AWG
28 AWG
16 AWG
16 AWG
22 AWG
22 AWG
28 AWG
28 AWG
28 AWG
28 AWG
28 AWG
28 AWG
Denotes twisted pairing of wires
Denotes shield wire
Denotes wire splice or connection
(Heatshrink insulates wire-to-wire splices.)
N/C
N/C
Customer must provide
360° shield to ground
connection
Bend radius (BR) is the specified minimum bend radius for cable assemblies. For standard cable, BR is a onetime flex application. Flex cables have a much higher BR to withstand flex applications.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
105
Appendix B
Accessories
Installation, Maintenance,
and Replacement Kits
Accessories available for installing linear stages, replacing items, and performing
maintenance at regular intervals are listed in the tables that follow.
Table 44 - Accessory Kits Common to All Multi-axis Linear Stages
Linear Stage Cat. No.
MPAS-A/Bxxxx
MPAS-A8xxx, MPAS-B8xxx
MPAS-A9xxx, MPAS-B9xxx
106
Description
Accessory Cat. No.
Kit, grease gun for all integrated linear stages.
MPAS-GPUMP
Grease gun refill cartridge for all integrated linear stages.
MPAS-CART
Kit, Tee-nuts (10 per package).
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
MPAS-8-TNUT
MPAS-9-TNUT
Accessories
Appendix B
Table 45 - Accessory Kits for Multi-axis Direct-drive Linear Stages
Linear Stage Cat. No.
Description
MPAS-6xxxB-SEAL (1)
MPAS-x6xxxx-ALMS2x
MPAS-x8xxxx-ALMS2x
Accessory Cat. No.
Kit, strip seal for direct-drive linear stage.
MPAS-8xxxE-SEAL (2)
MPAS-x9xxxx-ALMS2x
MPAS-9xxxK-SEAL (2)
MPAS-x6xxxx-ALMS2x
MPAS-6xxxB-SIDE (1)
MPAS-x8xxxx-ALMS2x
Kit, side covers for direct-drive linear stage.
MPAS-8xxxE-SIDE (2)
MPAS-x9xxxx-ALMS2x
MPAS-9xxxK-SIDE (2)
MPAS-x6xxxx-ALMS2x
MPAS-6xxxB-TOP (1)
MPAS-x8xxxx-ALMS2x
Kit, top cover for direct-drive linear stage.
MPAS-8xxxE-TOP (2)
MPAS-9xxxK-TOP (2)
MPAS-x9xxxx-ALMS2x
(1) Variable xxx (mm stroke x 10) is 012, 018, 024, 030, 036, 042, 054, 066, 078, 090, 102, or 114.
(2) Variable xxx (mm stroke x 10) is 014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194.
Table 46 - Accessory Kits for Multi-axis Ballscrew Linear Stages
Linear Stage Cat. No.
Description
Accessory Cat. No.
MPAS-x6xxxx-VxxSxx
Coupler, for ballscrew linear stage.
MPAS-6-COUP
MPAS-x8xxxx-VxxSxx
MPAS-8-COUP
MPAS-x9xxxx-VxxSxx
MPAS-9-COUP
MPAS-Axxxx1-V05S2x
Motor, 230V, without brake for 5 mm/rev ballscrew linear stage.
MPLS-A210E-VJ42AA
MPAS-Axxxx1-V05S4x
Motor, 230V, with brake for 5 mm/rev ballscrew linear stage.
MPLS-A210E-VJ44AA
MPAS-Bxxxx1-V05S2x
Motor, 460V, without brake for 5 mm/rev ballscrew linear stage.
MPLS-B210E-VJ42AA
MPAS-Bxxxx1-V05S4x
Motor, 460V, with brake for 5 mm/rev ballscrew linear stage.
MPLS-B210E-VJ44AA
MPAS-Axxxx2-V20S2x
Motor, 230V, without brake for 20 mm/rev ballscrew linear stage. MPLS-A220H-VJ42AA
MPAS-Axxxx2-V20S4x
Motor, 230V with brake for 20 mm/rev ballscrew linear stage.
MPAS-Bxxxx2-V20S2x
Motor, 460V, without brake for 20 mm/rev ballscrew linear stage. MPLS-B220H-VJ42AA
MPAS-Bxxxx2-V20S4x
Motor, 460V with brake for 20 mm/rev ballscrew linear stage.
MPLS-B220H-VJ44AA
MPAS-x6xxxx-VxxSxx
Kit, strip seal for ballscrew linear stage.
MPAS-6xxx1-SEAL (1)
MPLS-A220H-VJ44AA
MPAS-x8xxxx-VxxSxx
MPAS-8xxx1-SEAL (2)
MPAS-x9xxxx-VxxSxx
MPAS-9xxx1-SEAL (2)
MPAS-x6xxxx-VxxSxx
Kit, side cover for ballscrew linear stage.
MPAS-6xxx1-SIDE (1)
MPAS-x8xxxx-VxxSxx
MPAS-8xxx1-SIDE (2)
MPAS-x9xxxx-VxxSxx
MPAS-9xxx1-SIDE (2)
MPAS-x6xxxx-VxxSxx
Kit, top cover for ballscrew linear stage.
MPAS-6xxx1-TOP (1)
MPAS-x8xxxx-VxxSxx
MPAS-8xxx1-TOP (2)
MPAS-x9xxxx-VxxSxx
MPAS-9xxx1-TOP (2)
(1) Variable xxx (mm stroke x 10) is 012, 018, 024, 030, 036, 042, 054, or 066.
(2) Variable xxx (mm stroke x 10) is 012, 018, 024, 030, 036, 042, 054, 066, 078, 090, or 102.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
107
Appendix B
Accessories
Table 47 - Accessory Kits for Center Multi-axis X/Y Cable Modules
Multi-axis Linear Stage
Cat. No.
Description
Accessory Cat. No.
MPMA-xABC0C0A0-xxx
Cable track module for MPMA-xAB series X/Y Center Stacked Stages
MPMA-xABC0C0A0-CBL
MPMA-xABC6C6A0-xxx
MPMA-xABC6C6A0-CBL
MPMA-xABD2D2A0-xxx
MPMA-xABD2D2A0-CBL
MPMA-xABD8D8A0-xxx
MPMA-xABD8D8A0-CBL
MPMA-xABE4E4A0-xxx
MPMA-xABE4E4A0-CBL
MPMA-xABF6F6A0-xxx
MPMA-xABF6F6A0-CBL
MPMA-xACB4B4A0-xxx
Cable track module for MPMA-xAC series X/Y Center Stacked Stages
MPMA-xACB4B4A0-CBL
MPMA-xACC0C0A0-xxx
MPMA-xACC0C0A0-CBL
MPMA-xACC6C6A0-xxx
MPMA-xACC6C6A0-CBL
MPMA-xACD2D2A0-xxx
MPMA-xACD2D2A0-CBL
MPMA-xAPB8B8A0-xxx
Cable track module for MPMA-xAP series X/Y Center Stacked Stages
MPMA-xAPB8B8A0-CBL
MPMA-xAPC4C4A0-xxx
MPMA-xAPC4C4A0-CBL
MPMA-xAPD0D0A0-xxx
MPMA-xAPD0D0A0-CBL
MPMA-xAPE2E2A0-xxx
MPMA-xAPE2E2A0-CBL
MPMA-xAPG6G6A0-xxx
MPMA-xAPG6G6A0-CBL
Table 48 - Accessory Kits for Cartesian Multi-axis X/Y Cable Modules
108
Multi-axis Linear Stage
Cat. No.
Description
Accessory Cat. No.
MPMA-xCBD2D2A0-xxx
Cable track module for MPMA-xCB series X/Y Cartesian Stacked Stages
MPMA-xCBD2D2A0-CBL
MPMA-xCBE4D2A0-xxx
MPMA-xCBE4D2A0-CBL
MPMA-xCBE4E4A0-xxx
MPMA-xCBE4E4A0-CBL
MPMA-xCBF6E4A0-xxx
MPMA-xCBF6E4A0-CBL
MPMA-xCBG8E4A0-xxx
MPMA-xCBG8E4A0-CBL
MPMA-xCBG8F6A0-xxx
MPMA-xCBG8F6A0-CBL
MPMA-xCBI0F6A0-xxx
MPMA-xCBI0F6A0-CBL
MPMA-xCBJ2F6A0-xxx
MPMA-xCBJ2F6A0-CBL
MPMA-xCQD0D0A0-xxx
Cable track module for MPMA-xCQ series X/Y Cartesian Stacked Stages MPMA-xCQD0D0A0-CBL
MPMA-xCQE2D0A0-xxx
MPMA-xCQE2D0A0-CBL
MPMA-xCQE2E2A0-xxx
MPMA-xCQE2E2A0-CBL
MPMA-xCQG6E2A0-xxx
MPMA-xCQG6E2A0-CBL
MPMA-xCQG6G6A0-xxx
MPMA-xCQG6G6A0-CBL
MPMA-xCQH8G6A0-xxx
MPMA-xCQH8G6A0-CBL
MPMA-xCQJ0G6A0-xxx
MPMA-xCQJ0G6A0-CBL
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Accessories
Appendix B
Table 49 - Accessory Kits for Center Multi-axis X/Z Cable Modules
Multi-axis Linear Stage
Cat. No.
Description
Accessory Cat. No.
MPMA-xBDD2A0B8-xxx
Cable track module for MPMA-xBD series X/Z Center Stacked Stages
MPMA-xBDD2A0B8-CBL
MPMA-xBDD2A0D0-xxx
MPMA-xBDD2A0D0-CBL
MPMA-xBDE4A0B8-xxx
MPMA-xBDE4A0B8-CBL
MPMA-xBDE4A0D0-xxx
MPMA-xBDE4A0D0-CBL
MPMA-xBDE4A0E2-xxx
MPMA-xBDE4A0E2-CBL
MPMA-xBDG8A0B8-xxx
MPMA-xBDG8A0B8-CBL
MPMA-xBDG8A0D0-xxx
MPMA-xBDG8A0D0-CBL
MPMA-xBDG8A0E2-xxx
MPMA-xBDG8A0E2-CBL
MPMA-xBDI0A0B8-xxx
MPMA-xBDI0A0B8-CBL
MPMA-xBDI0A0D0-xxx
MPMA-xBDI0A0D0-CBL
MPMA-xBDI0A0E2-xxx
MPMA-xBDI0A0E2-CBL
MPMA-xBDJ2A0D0-xxx
MPMA-xBDJ2A0D0-CBL
MPMA-xBDJ2A0E2-xxx
MPMA-xBDJ2A0E2-CBL
MPMA-xBDJ2A0F4-xxx
MPMA-xBDJ2A0F4-CBL
MPMA-xBED2A0B8-xxx
Cable track module for MPMA-xBE series X/Z Center Stacked Stages
MPMA-xBED2A0B8-CBL
MPMA-xBED2A0D0-xxx
MPMA-xBED2A0D0-CBL
MPMA-xBEE4A0B8-xxx
MPMA-xBEE4A0B8-CBL
MPMA-xBEE4A0D0-xxx
MPMA-xBEE4A0D0-CBL
MPMA-xBEG8A0B8-xxx
MPMA-xBEG8A0B8-CBL
MPMA-xBEG8A0D0-xxx
MPMA-xBEG8A0D0-CBL
MPMA-xBID0A0B8-xxx
Cable track module for MPMA-xBI series X/Z Center Stacked Stages
MPMA-xBID0A0B8-CBL
MPMA-xBID0A0D0-xxx
MPMA-xBID0A0D0-CBL
MPMA-xBIE2A0B8-xxx
MPMA-xBIE2A0B8-CBL
MPMA-xBIE2A0D0-xxx
MPMA-xBIE2A0D0-CBL
MPMA-xBIG6A0B8-xxx
MPMA-xBIG6A0B8-CBL
MPMP-xBIG6A0D0-xxx
MPMP-xBIG6A0D0-CBL
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
109
Appendix B
Accessories
Table 50 - Mounting Bar Accessory Kits for Multi-axis X-axis Linear Stages
110
Multi-axis Linear Stage
Cat. No.
Description
Accessory Cat. No.
MPMA-xxxB4xxxx-xxx
Mounting Bar for X-axis having B4 travel
MPAS-TBAR-B4
MPMA-xxxB8xxxx-xxx
Mounting Bar for X-axis having B8 travel
MPAS-TBAR-B8
MPMA-xxxC0xxxx-xxx
Mounting Bar for X-axis having C0 travel
MPAS-TBAR-C0
MPMA-xxxC4xxxx-xxx
Mounting Bar for X-axis having C4 travel
MPAS-TBAR-C4
MPMA-xxxC6xxxx-xxx
Mounting Bar for X-axis having C6 travel
MPAS-TBAR-C6
MPMA-xxxD0xxxx-xxx
Mounting Bar for X-axis having D0 travel
MPAS-TBAR-D0
MPMA-xxxD2xxxx-xxx
Mounting Bar for X-axis having D2 travel
MPAS-TBAR-D2
MPMA-xxxD8xxxx-xxx
Mounting Bar for X-axis having D8 travel
MPAS-TBAR-D8
MPMA-xxxE2xxxx-xxx
Mounting Bar for X-axis having E2 travel
MPAS-TBAR-E2
MPMA-xxxE4xxxx-xxx
Mounting Bar for X-axis having E4 travel
MPAS-TBAR-E4
MPMA-xxxF6xxxx-xxx
Mounting Bar for X-axis having F6 travel
MPAS-TBAR-F6
MPMA-xxxG6xxxx-xxx
Mounting Bar for X-axis having G6 travel
MPAS-TBAR-G6
MPMA-xxxG8xxxx-xxx
Mounting Bar for X-axis having G8 travel
MPAS-TBAR-G8
MPMA-xxxH8xxxx-xxx
Mounting Bar for X-axis having H8 travel
MPAS-TBAR-H8
MPMA-xxxI0xxxx-xxx
Mounting Bar for X-axis having I0 travel
MPAS-TBAR-I0
MPMA-xxxJ0xxxx-xxx
Mounting Bar for X-axis having J0 travel
MPAS-TBAR-J0
MPMA-xxxJ2xxxx-xxx
Mounting Bar for X-axis having J2 travel
MPAS-TBAR-J2
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Appendix
C
Interconnect Diagrams
Introduction
Wiring Examples
This appendix provides wiring examples to assist you in wiring an MPAS linear
stage to a Allen-Bradley drive.
Topic
Page
Wiring Examples
111
Motor/Axis Module Wiring Examples
112
The notes below apply to the wiring examples on the pages that follow.
Not all of the notes apply to each example.
Note
Information
1
Cable shield clamp must be used in order to meet CE requirements. No external connection to ground is required.
2
The Kinetix 2000 or Kinetix 6000 axis module referenced is either an individual axis module or the same axis module that resides within an
multi-axis system.
3
For motor cable specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001.
4
MPAS-Axxxxxx encoders use the +5V dc supply. MPAS-Bxxxxxx encoders use +9V dc.
5
Use a flyback diode for noise suppression of the motor brake coil of an Ultra3000 drive. For more information, refer to System Design for
Control of Electrical Noise, publication GMC-RM001.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
111
Appendix C
Interconnect Diagrams
Motor/Axis Module Wiring Examples
Figure 15 - Wiring Examples for MP-Series Integrated Linear Stages and Kinetix
2000 Drives
Cable Shield
Clamp Kit
KINETIX 2000
IAM (inverter) or AM
BALL SCREW STAGES WITH
HIGH RESOLUTION FEEDBACK
MPAS-A/Bxxxx-V05SxA and
MPAS-A/Bxxxx-V20SxA
Note 1
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Shield
W
V
U
Motor Power
(MP) Connector
4
3
2
1
Green/Yellow
D
Blue
C
B
W
Black
Brown
A
U
2090-XXNPMF-xx Sxx
Motor Power Cable
Notes 3, 5
Motor Feedback
(MF) Connector
GND
V
Motor
Feedback
Three-Phase
Motor Power
Thermostat
Motor
Brake
(BC)
Connector
MBRK +
MBRK PWR
COM
2
Black
3
White
1
G
F
BRBR+
Brake
1
2
BLACK
WHT/BLACK
3
4
RED
WHT/RED
5
6
9
10
11
13
GREEN
WHT/GREEN
14
1
2
SIN+
SINCOS+
COS-
3
4
ORANGE
WHT/ORANGE
DATA+
DATA+5VDC
ECOM
+9VDC
TS+
5
10
14
6
7
11
BLUE
TS-
GRAY
WHT/GRAY
COM
12
24V dc
(1.2A max.)
User Supplied
4
Motor Feedback
(MF) Connector
(IAM/AM)
Refer to Low Profile Connector
illustration (lower left)
for proper grounding technique.
2090-XXNFMF-Sxx Feedback Cable
Notes 3, 4
DIRECT DRIVE STAGES WITH
INCREMENTAL FEEDBACK
MPAS-A/Bxxxx-ALMx2C
2090-XXNPMF-xxSxx
Motor Power Cable
connects to Motor Power (MP)
and Cable Shield Clamp
as shown above
Grounding Technique for
Feedback Cable Shield
Connection to Drive
D
C
B
A
W
GND
V
Three-Phase
U Motor Power
Motor
Feedback
Low Profile Connector
(2090-K2CK-D15xx shown)
Thermostat
1
2
BLACK
WHT/BLACK
3
4
RED
WHT/RED
5
6
9
10
11
13
GREEN
WHT/GREEN
14
15
16
17
12
Clamp
Exposed shield secured
under clamp
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
YELLOW
WHT/YELLOW
AM+
AMBM+
BMIM+
IM+5VDC
ECOM
–
TS+
TSS1
S2
S3
COM
Refer to Low Profile Connector
illustration (lower left)
for proper grounding technique.
Clamp screw
Turn clamp over to hold
small cables secure
112
Motor Feedback
(MF) Connector
(IAM/AM)
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
2090-XXNFMF-Sxx Feedback Cable
Notes 3, 4
1
2
3
4
5
10
14
6
11
12
13
8
Interconnect Diagrams
Appendix C
Figure 16 - Wiring Examples for MP-Series Integrated Linear Stages and Kinetix
6000 Drives
KINETIX 6000
IAM (inverter) or AM
BALL SCREW STAGES WITH
HIGH RESOLUTION FEEDBACK
MPAS-A/Bxxxx-V05SxA and
MPAS-A/Bxxxx-V20SxA
Note 2
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Cable Shield
Clamp
Shield
Note 1
W
V
U
Motor Power
(MP) Connector
4
3
2
1
Green/Yellow
D
Blue
C
B
W
Black
Brown
A
U
2090-XXNPMF-xxSxx
Motor Power Cable
Note 3
Motor Feedback
(MF) Connector
MBRK +
Motor
Feedback
Three-Phase
Motor Power
Motor/Resistive
Brake (BC) Connector
MBRK -
GND
V
Thermostat
6
Black
G
5
White
F
BRBR+
Brake
Motor Feedback
(MF) Connector
(IAM/AM)
1
2
BLACK
WHT/BLACK
3
4
RED
WHT/RED
5
6
9
10
11
13
GREEN
WHT/GREEN
14
3
4
ORANGE
WHT/ORANGE
DATA+
DATA+5VDC
ECOM
+9VDC
TS+
5
10
14
6
7
11
BLUE
TS-
GRAY
WHT/GRAY
COM
12
4
COM
3
PWR
DBRK DBRK +
2
BR-
1
BR+
User Supplied
24V dc (1.2A max.)
Refer to Low Profile Connector
illustration (lower left)
for proper grounding technique.
Resistive Brake
Connections
2090-XXNFMF-Sxx Feedback Cable
Notes 3, 4
DIRECT DRIVE STAGES WITH
INCREMENTAL FEEDBACK
MPAS-A/Bxxxx-ALMx2C
D
2090-XXNPMF-xxSxx
Motor Power Cable
connects to Motor Power (MP)
and Cable Shield Clamp
as shown above
Grounding Technique for
Feedback Cable Shield
Connection to Drive
1
2
SIN+
SINCOS+
COS-
C
B
A
W
GND
V
Three-Phase
U Motor Power
Motor
Feedback
Low Profile Connector
(2090-K2CK-D15xx shown)
Thermostat
1
2
BLACK
WHT/BLACK
3
4
RED
WHT/RED
5
6
9
10
11
13
GREEN
WHT/GREEN
14
15
16
17
12
Clamp
Motor Feedback
(MF) Connector
(IAM/AM)
Exposed shield secured
under clamp
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
YELLOW
WHT/YELLOW
AM+
AMBM+
BMIM+
IM+5VDC
ECOM
–
TS+
TSS1
S2
S3
COM
1
2
3
4
5
10
14
6
11
12
13
8
Refer to Low Profile Connector
illustration (lower left)
for proper grounding technique.
Clamp screw
Turn clamp over to hold
small cables secure
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
2090-XXNFMF-Sxx Feedback Cable
Notes 3, 4
113
Appendix C
Interconnect Diagrams
Figure 17 - Wiring Examples for MP-Series Integrated Linear Stages and Ultra3000
Drives
ULTRA3000
DIGITAL SERVO DRIVE
BALL SCREW STAGES WITH
HIGH RESOLUTION FEEDBACK
MPAS-A/Bxxxx-V05SxA and
MPAS-A/Bxxxx-V20SxA
Note 2
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Cable Shield
Clamp
Shield
Note 1
Motor Power
(TB1) Connector
W
V
U
4
3
2
1
Green/Yellow
D
Blue
Black
C
B
Brown
A
W
GND
V
Three-Phase
U Motor Power
2090-XXNPMF-xx Sxx
Motor Power Cable
Note 3
Motor Feedback
(CN2) Connector
Motor
Feedback
Thermostat
Control Interface
(CN1) Connector
BRK BRK+
43
44
Black
G
BR-
White
F
BR+
Brake
Motor Feedback
(CN2) Connector
1
2
BLACK
WHT/BLACK
3
4
RED
WHT/RED
5
6
9
10
11
13
GREEN
WHT/GREEN
14
1
2
SIN+
SINCOS+
COS-
3
4
ORANGE
WHT/ORANGE
DATA+
DATA+5VDC
ECOM
+9VDC
TS+
5
10
14
6
7
11
BLUE
TS-
GRAY
WHT/GRAY
COM
12
2090-XXNFMF-Sxx Feedback Cable
Notes 3, 4
COM +24V
User Supplied
24V dc (1.0A max)
Note 5
DIRECT DRIVE STAGES WITH
INCREMENTAL FEEDBACK
MPAS-A/Bxxxx-ALMx2C
Motor Feedback
(CN2) Connector
2090-XXNPMF-xxSxx
Motor Power Cable
connects to Motor Power (TB1)
and Cable Shield Clamp
as shown above
D
C
B
A
W
GND
V
Three-Phase
U Motor Power
Motor
Feedback
Thermostat
1
2
BLACK
WHT/BLACK
3
4
RED
WHT/RED
5
6
9
10
11
13
GREEN
WHT/GREEN
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
14
15
16
17
12
BLUE
WHT/BLUE
YELLOW
WHT/YELLOW
AM+
AMBM+
BMIM+
IM+5VDC
ECOM
–
TS+
TSS1
S2
S3
COM
Refer to Low Profile Connector
illustration (lower left)
for proper grounding technique.
2090-XXNFMF-Sxx Feedback Cable
Notes 3, 4
114
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
1
2
3
4
5
10
14
6
11
12
13
8
Appendix
D
Home to Torque-level Example
Introduction
Use this appendix to become familiar with the Home to Torque-level sequence in
RSLogix 5000 software, version 16 or later, and the considerations required when
using this homing method.
This document provides an example for a typical homing program routine. The
example shown does not claim to be complete and does not apply to any specific
application.
Applicable Drives
Topic
Page
Applicable Drives
115
About Home to Torque-level Homing
116
Drive Bipolar Torque Limit Adjustment
118
Disable Soft Overtravel Limit
119
Ladder Code Example
119
Potential for Position Error
126
This information in this document applies to the following drives:
Drive Type
Cat. No.
Kinetix 2000
2093-AC05-MPx, 2093-AMxx
Kinetix 6000
2094-ACxx-Mxx, 2094-AMxx, 2094-ACxx-Mxx-S, 2094-AMxx-S,
2094-BCxx-Mxx, 2094-BMxx, 2094-BCxx-Mxx-S, 2094-BMxx-S
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
115
Appendix D
Home to Torque-level Example
About Home to Torque-level
Homing
Home to torque-level homing is a process that references a known position by
monitoring torque while driving an axis into a mechanical hard-stop. Once the
actual torque level reaches or exceeds a specified torque level for a set time of 500
ms, a status flag is set in the controller.
IMPORTANT
Because the process of home to torque-level requires axis motion,
the axis homing mode must be configured as Active.
Figure 18 - Axis Properties - Homing Tab
Table 51 - Torque-level Homing
Sequence Type
Description
Torque Level
Sets the Home Position after the output torque reaches the Torque Level
value, reverses direction, and moves until the Homing Torque Above
Threshold bit is low and the status bit sets.
Torque Level - Marker
Sets the Home Position after the output torque reaches the Torque Level
value, reverses direction, and encounters an encoder marker.
When either the Torque Level or Torque Level - Marker homing option is
selected on the Homing tab, the Torque Level field is activated in the Active
Home Sequence Group. The units for this field are a percentage of the
continuous torque of the motor (% Continuous Torque) limited by the driverated current/motor-rated current ratio. This number is interpreted in the drive
as an absolute value and the range is 0 through the TorqueLimitPositive value.
Forward Bi-directional and Reverse Bi-directional are the only options for the
Direction field when Torque Level or Torque Level - Marker homing sequence is
selected. Uni-directional homing is not possible, because the Home to Torquelevel sequence relies on a mechanical hard-stop.
116
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Home to Torque-level Example
Appendix D
Figure 19 - Position/Velocity Diagram for Torque-level Homing
Figure 20 - Position/Velocity Diagram for Torque-level - Marker Homing
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
117
Appendix D
Home to Torque-level Example
Drive Bipolar Torque Limit
Adjustment
When homing an axis to a mechanical hard-stop, set the Home Torque-level
value above the torque value required to move the system, but low enough not to
cause problems with the system mechanics. As part of the process of homing to a
torque limit, limit the Peak Torque value to a level 10% above the Home Torque
value to reduce the stresses on the mechanics and to eliminate the chance of an
over-current error.
IMPORTANT
The 10% value is an estimated starting point. This value may need
adjustment based on the application requirements.
Limit the Peak Torque value before issuing the homing instruction (MAH) and
reset the Peak Torque field to the original value after homing completes.
Table 52 - Bipolar Torque Limit Adjustment
118
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Home to Torque-level Example
Disable Soft Overtravel
Limit
If the application requires the use of soft-overtravel limits (Limits tab) to
safeguard the system mechanics, disable the Soft Travel Limits for the axis to
home. The Soft Travel Limits are disabled to prevent a fault from occurring
during the homing operation, but re-enable them after homing completes.
IMPORTANT
Ladder Code Example
Appendix D
Those responsible for the application must determine when it is
safe and appropriate to disable soft-overtravel checking.
This example shows how to adjust the peak torque limit and disable the softovertravel limit checking when homing to a torque limit. The code uses a state
model methodology in which each rung of code needs to complete successfully
before moving to the next rung.
IMPORTANT
Because the home to torque-level sequence relies on the
mechanical end of travel for operation, Uni-directional homing is
not possible. You must choose between Forward Bi-directional or
Reverse Bi-directional.
Rung 11 of the ladder code checks to make sure that the axis position, after
homing, is within the Soft Travel Limits before re-enabling soft-overtravel limit
checking. In this example, a 1.15 cm Offset move is configured in the Homing tab
and that is the final home position. The 0.5 cm is within the Soft Travel Limits
set on the Limits tab.
Table 53 - Tags Used
Tag Name
Data Type
Description
Saved_FaultConfig
DINT
Storage location for FaultConfigurationBits (motion attributes)
Bit 0 = soft-overtravel limit checking
Clear_SoftOT_Mask
DINT
Set to -2.
This masks the off soft-overtravel enable bit without changing the other configuration bits.
Temp_FaultConfig
DINT
Temporary hold word for FaultConfigurableBits
SoftOT_Disabled
BOOL
Soft-overtravel checking disabled status bit
Saved_TQLim_Bipolar
REAL
Storage location for Peak Torque (TorqueLimitBipolar)
HomeTQ_Level
REAL
Home Torque Level from the Home tab in Axis Properties
Temp_TQLim_Bipolar
REAL
Temporary Peak Torque for Homing (10% higher than Home Torque Limit)
Axis_01_MI.MAH
MOTION_INSTRUCTION
Control for MAH instruction (using a UDT)
Positive_Overtravel
REAL
Max Positive Soft-overtravel value
Negative_Overtravel
REAL
Max Negative Soft-overtravel value
Saved_PosErrorTol
REAL
Storage location for Actual Position Error value
Temp_PosErrorTol
REAL
Temporary Position Error value for Homing
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
119
Appendix D
Home to Torque-level Example
Figure 21 - Axis Properties - Homing Tab
Figure 22 - Axis Properties - Limits Tab
120
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Home to Torque-level Example
Appendix D
3
2
1
0
Table 54 - Ladder Code Example
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
121
Appendix D
Home to Torque-level Example
122
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
6
5
4
Table 55 - Ladder Code Example, continued
Home to Torque-level Example
Appendix D
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
9
8
7
Table 56 - Ladder Code Example, continued
123
Appendix D
Home to Torque-level Example
124
11
10
Table 57 - Ladder Code Example, continued
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Home to Torque-level Example
Appendix D
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
(End)
14
13
12
Table 58 - Ladder Code Example, continued
125
Appendix D
Home to Torque-level Example
Potential for Position Error
When executing a torque limit homing procedure there is potential for a position
error. As mentioned earlier, for the home to torque limit to complete, the output
torque to the motor must reach or exceed the specified torque level for a set time
of 500 ms. During this time the axis is against the mechanical hard-stop, and
following error is increasing in the position loop. If the Position Error Tolerance
value is exceeded before completion of the homing instruction, a Position Error
(E19) results.
There are two methods to limit the occurrence of an E19.
• Set the Position Error Tolerance value on the Limits tab of the Axis
Properties to 10 mm.
• Modify the Position Error Tolerance value to 10 mm using a SSV
instruction code. You can use code similar to the code on page 122 which is
used to change the Bipolar Torque Limit.
TIP
The second method is preferred because it temporarily sets Position
Error Tolerance to a value appropriate for homing to a mechanical
hard-stop and then resets it to the original value set in the Axis
Properties dialog box.
Rung 6 of the ladder code opens the Position Error window. This lets the
Homing complete without causing a Position Error. The original value is reset
after Homing completes.
126
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Appendix
E
Mounting Bolts and Torque Values
Introduction
This appendix provides typical torque values for standard and metric bolts.
Topic
Page
Recommended Seating Torque for Metric Bolts
127
Recommended Seating Torque for Mild Steel Rb 87 or Cast Iron Rb 83
128
Recommended Seating Torque for Brass Rb 72
129
Recommended Seating Torque for Aluminum Rb 72 (2024-T4)
130
Table 59 - Recommended Seating Torque for Metric Bolts
Plain
Cadmium Plated
Zinc
Pitch
Nm (lb•in)
Nm (lb•in)
Nm (lb•in)
M1.6 (2)
0.35
0.29 (2.6)
0.22 (1.95)
0.41(3.64)
M2 (2)
0.40
0.60 (5.3)
0.45 (3.98)
0.84 (7.42)
M2.5 (2)
0.45
1.24 (11)
0.93 (8.25)
1.74 (15.4)
M3
0.5
2.15 (19)
1.61 (14.25)
3.00 (26.6)
M4
0.7
4.6 (41)
3.47 (30.75)
6.48 (57.4)
M5
0.8
9.6 (85)
7.20 (63.75)
13.4 (119)
M6
1.0
15.8 (140)
11.9 (105)
22.1 (196)
M8
1.25
39.5 (350)
29.7 (262.5)
55.4 (490)
M10
1.5
76.8 (680)
57.6 (510)
115.2 (1020)
Bolt Size (Metric)
(1)
(1) Mounting hardware is ISO 898/1 socket head cap bolt that meets or exceeds ANSI B113M, ISO 261, ISO 262 (coarse series only).
(2) Microsize bolt.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
127
Appendix E
Mounting Bolts and Torque Values
Table 60 - Recommended Seating Torque for Mild Steel Rb 87 or Cast Iron Rb 83
UNC
Bolt Size
(1), (2)
UNF
Plain
Cadmium Plated
Plain
Cadmium Plated
Nm (lb•in)
Nm (lb•in)
Nm (lb•in)
0.18 (1.6) (3)
#0
–
–
0.24 (2.1)
#1
0.44 (3.89) (3)
0.53 (4.7) (3)
0.46 (4.1) (3)
0.34 (3.0) (3)
#2
0.71 (6.3) (3)
0.53 (4.7) (3)
0.76 (6.8) (3)
0.58 (5.1) (3)
#3
1.08 (9.6) (3)
0.81 (7.2) (3)
1.16 (10.3) (3)
0.87 (7.7) (3)
#4
1.52 (13.5) (3)
1.13 (10) (3)
1.67 (14.8) (3)
1.2 (11) (3)
#5
2.3 (20) (3)
1.7 (15) (3)
2.37 (21) (3)
1.8 (16) (3)
#6
2.8 (25) (3)
2.1 (19) (3)
3.2 (28) (3)
2.4 (21) (3)
#8
5.2 (46) (3)
3.8 (34) (3)
5.4 (48) (3)
4.1 (36) (3)
#10
7.6 (67) (3)
5.6 (50) (3)
8.6 (76) (3)
6.4 (57) (3)
1/4
17.8 (158) (3)
13.4 (119) (3)
20.3 (180) (3)
15.4 (136) (3)
5/16
36.8 (326) (3)
27.7 (245) (3)
40.7 (360) (3)
30.5 (270) (3)
3/8
65.5 (580) (3)
49.1 (435)
71.7 (635)
53.7 (476)
7/16
105 (930) (3)
78.9 (698) (3)
117.5 (1,040) (3)
88.1 (780) (3)
1/2
160 (1420) (3)
172.8 (1530) (3)
254.2 (2250)
190.9 (1690)) (3)
(1) Mounting hardware is 1960-series socket head cap bolt that meets or exceeds ANSI B18.3.
(2) Torque is based on 80,000 psi bearing stress under the head of the bolt.
(3) Denotes torque based on 100,000 psi tensile stress, with threads up to one inch in diameter.
128
Nm (lb•in)
(3)
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Mounting Bolts and Torque Values
Appendix E
Table 61 - Recommended Seating Torque for Brass Rb 72
UNC
Bolt Size
(1), (2)
UNF
Plain
Cadmium Plated
Plain
Cadmium Plated
Nm (lb•in)
Nm (lb•in)
Nm (lb•in)
(3)
Nm (lb•in)
0.18 (1.6) (3)
#0
–
–
0.24 (2.1)
#1
0.43(3.8) (3)
0.33 (2.9) (3)
0.46 (4.1)
0.34 (3.0) (3)
#2
0.71 (6.3) (3)
0.53 (4.7) (3)
0.77 (6.8) (3)
0.58 (5.1) (3)
#3
1.08 (9.6) (3)
0.81 (7.2) (3)
1.16 (10.3) (3)
0.87 (7.7) (3)
#4
1.52 (13.5) (3)
1.1 (10) (3)
1.67 (14.8) (3)
1.24 (11) (3)
#5
2.2 (20) (3)
1.7 (15) (3)
2.4 (21) (3)
1.8 (16) (3)
#6
2.8 (25) (3)
2.1 (19) (3)
3.2 (28) (3)
2.4 (21) (3)
#8
5.2 (46) (3)
3.8 (34)
5.4 (48) (3)
4.1 (36) (3)
#10
7.6 (67) (3)
5.6 (50) (3)
8.6 (76) (3)
6.4 (57) (3)
1/4
15.3 (136)
11.5 (102)
15.4 (136)
11.5 (102)
5/16
25.8 (228)
19.3 (171)
25.8 (228)
19.3 (171)
3/8
53.7 (476)
40.3 (357)
53.7 (476)
40.3 (357)
7/16
76.8 (680)
57.6 (510)
76.8 (680)
57.6 (510)
(1) Mounting hardware is 1960-series socket head cap bolt that meets or exceeds ANSI B18.3.
(2) Torque is based on 60,000 psi bearing stress under the head of the bolt.
(3) Denotes torques based on 100,000 psi tensile stress with threads up to one inch in diameter.
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
129
Appendix E
Mounting Bolts and Torque Values
Table 62 - Recommended Seating Torque for Aluminum Rb 72 (2024-T4)
UNC
Bolt Size
(1), (2)
UNF
Plain
Cadmium Plated
Plain
Cadmium Plated
Nm (lb•in)
Nm (lb•in)
Nm (lb•in)
(3)
0.18 (1.6) (3)
#0
-
-
0.24 (2.1)
#1
0.44 (3.8) (3)
0.33 (2.9) (3)
0.46 (4.1) (3)
#2
0.71 (6.3)
(3)
(3)
(3)
#3
1.08 (9.6) (3)
0.81 (7.2) (3)
1.16 (10.3) (3)
0.87 (7.7) (3)
#4
1.52 (13.5) (3)
1.1 (10) (3)
1.67 (14.8) (3)
1.24 (11) (3)
#5
2.3 (20) (3)
1.7 (15) (3)
2.37 (21) (3)
1.8 (16) (3)
#6
2.8 (25) (3)
2.1 (19) (3)
3.2 (28) (3)
2.37 (21) (3)
#8
5.2 (46) (3)
3.8 (34) (3)
3.2 (48) (3)
4.1 (36) (3)
#10
7.6 (67) (3)
5.6 (50) (3)
8. 6 (76) (3)
6.4 (57) (3)
1/4
12.8 (113)
9.6 (85)
12.8 (113)
9.6 (85)
5/16
21.5 (190)
16.1 (143)
21.5 (190)
16.1 (143)
3/8
44.8 (397)
33.6 (298)
44.8 (397)
33.7 (298)
7/16
64.4 (570)
48.0 (425)
64.4 (570)
48.0 (425)
1/2
159.3 (1410)
119.8 (1060)
159.3 (1410)
119.8 (1060)
0.53 (4.7)
0.77 (6.8)
(1) Mounting hardware is 1960-series socket head cap bolt that meets or exceeds ANSI B18.3.
(2) Torque is based on 50,000 psi bearing stress under the head of the bolt.
(3) Denotes torques based on 100,000 psi tensile stress with threads up to one inch in diameter.
130
Nm (lb•in)
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
0.34 3.0v
0.58 (5.1) (3)
Index
A
accessibility 29
accessories 111
feedback cable 113
power cable 111
agency standards
UL 1740 - industrial robot safety 43
emergency brake release 28
power enable lighting 28
air port 26
ANSI/NFPA 79 - electrical for industrial
machines 27
ANSI/RIA R15.06 - industrial robot, multiple
teaching 27, 28
B
ball nut 26
ball screw 26
connector pinout
feedback connector 47
power connector 45
lubrication port 25
maintenance interval 65
motor 26
ball screw lifetime 109
bearing 25
lubrication 25
bearing rail 25
brake specification 109
C
cable carrier 25
lifetime 109
replacement 26
carriage 25
max temperature 12
catalog number
identification 22
certification 110
cleaning 26, 85
cleaning interval 65, 67
clearance 31
clearances 31
coil 25
component description
air port 26
ball nut 26
ball screw shaft 26
bearing 25
bearing rail 25
cable carrier 25
carriage 25
encoder strip 25
ground label 25
ground screw 25
lubrication ports 25
magnet track 25
magnetic encoder 25
motor coil 25
readhead 25
rotary motor 26
seal guide 25
seal strip clamp 25
side cover 25
side cover support 26
strip seal 25
top cover 25
components 22
configuration
ball screw Logix parameters 54
ball screw stage parameters 61
ball screw with Ultraware 62
direct drive Logix parameters 51
direct drive stage Ultraware parameters 62
end-of-travel bumpers 63
home-to-torque 123
Kinetix 2000 drive 50, 51
Kinetix 6000 drive 50, 51
travel limits 63
tuning
Kinetix 2000 system 56
Kinetix 6000 system 56
Ultra3000
direct drive parameters 61
Ultra3000 drive 50
connector
ball screw feedback 47
direct drive feedback 46
power 45
cover
installation 75
removal 75
side 25
top 25
torque 75
D
dimensions
MPMA-xABxxxxxx-xxx 91
MPMA-xACxxxxxx-xxx 93
MPMA-xAPxxxxxx-xxx 95
MPMA-xBDxxxxxx-xxx 107
MPMA-xBExxxxxx-xxx 103
MPMA-xBIxxxxxx-xxx 105
MPMA-xCBxxxxxx-xxx 98
MPMA-xCQxxxxxx-xxx 101
direct drive
connector pinout
feedback connector 46
power connector 45
lubrication interval 65
maintenance interval 65
dust 29
E
emergency brake release 28, 43
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
131
Index
encoder strip 25
end of travel impact 12
extension cables 111
F
firmware revision 49
G
ground label 25
ground screw 25
H
home-to-torque
adjust bipolar limit 126
disable overtravel 127
ladder code 127
position error 134
hookup tab 82
humidity range 109
I
inclined installation 12
installation
clearance restrictions 31
configuration with drive 50
end-of-travel bumpers 63
environmental restrictions 29
firmware 49
home-to-torque 123
Logix configuration 51
Logix parameters
ball screw stage 54
direct drive stage 51
mounting restrictions 29
mounting surface restrictions 29
orientation restrictions 30
software 49
travel limits 63
tuning with Logix 56
Ultraware parameters
ball screw stage 61
direct drive stage 61
interconnect cables 111
feedback 113
power 111
interconnect diagrams
linear stage to Kinetix 2000 120
linear stage to Kinetix 6000 121
linear stage to Ultra3000 122
motor and drive wiring 120
wiring example notes 119
L
lead screw 26
132
lighting 29
power enable requirement 28
lubrication 26
lubrication interval 26, 65
ball screw 65
direct drive 65
lubrication port 25, 66
M
magnet track 25
magnetic encoder 25
maintenance 26
bearing lubrication 66
cable carrier 26
cleaning interval 65
cover cleaning 67
cover installation 75
cover removal 75
lubrication interval 26, 65
lubrication ports 66
required tools 70
rotary motor replacement 78
side cover installation 77
strip seal 74, 76
strip seal cleaning 67
tools 65
motion analyzer version 49
motor coil 25
motor database 49
mounting
before mounting 124
brake option 42
EMI bonding 39
fastener torque 38
feedback cable 46, 47
ground strap 39
interface cable 39, 40
power cable 45
pressurized air connection 42
surface flatness 37
mounting restrictions 29, 30, 31
mounting surface restrictions 29
O
operating temperature 109
options 22
overtemperature 110
P
packaging 37
pinout
feedback cable 113
feedback connector 46, 47
power cable 111
power connector 45
power connector 45
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Index
pressurized air, maximum 109
procedure
cable carrier assembly
removal 70
procedures
bearing lubrication 66
brake option 42
cable drip loop 40
cover cleaning 67
emergency brake release 43
EMI bonding 39
fastener torque 38
feedback connection 46, 47
ground strap 39
interface cable 39, 40
positive air pressure 42
power connection 45
storing of packing material 37
strip seal cleaning 67
surface flatness 37
unpacking 33
prodecure
cable carrier assembly
installation 74
product certification website 110
R
rail 25
readhead 25
reference documents
A-B automation glossary 7
drive manuals 7
SERCOS interface 7
standards 27, 28
ANSI/NFPA 79 - industrial machinery
electrical standard 28
CSA/CAN Z434 - industrial robot safety
27
UL 1740 - industrial robot safety 28
UL 3101-1 - laboratory electrical equipment 28
UL 544 - medical and dental equipment
28
UL 79 - petroleum dispensing equipment
28
requirements 29, 31
rotary motor 26
installation 78
torque 78
S
safety
bolts 10
cover 10
emergency brake release 43
end cap impact 13
hazardous voltage 10
heat 10
inclined payload 12
junction box 10
labels 10
pinch points 10
power enable indicator 43
sharp edges 10
strong magnets 10
sudden motion 12
uncontrolled impact 13
vertical payload 12
safety label, location of 11
screw shaft 26
seal guide 25
seal strip 25
clamp 25
setting parameters 51
shipping
air freight restriction 14
brace 37
clamp 37
container storage 37
dangerous goods declaration 14
form 902 instructions 14
shock 109
side cover
installation 77
torque 77
software, required version 49
specifications
brake 109
humidity range 109
MPMA-xABxxxxxx-xxx 90
MPMA-xACxxxxxx-xxx 92
MPMA-xAPxxxxxx-xxx 94
MPMA-xBDxxxxxx-xxx 106
MPMA-xBExxxxxx-xxx 102
MPMA-xBIxxxxxx-xxx 104
MPMA-xCBxxxxxx-xxx 97
MPMA-xCQxxxxxx-xxx 100
pressurized air 26
product certification 110
PTC thermal signal 110
shock and vibration 109
storage and operating temperature 109
stage
connectors 45
cover installation 75
cover removal 75
rotary motor installation 78
side cover installation 77
side cover torque 77
side cover support 26
storage 37
standards
EN60204-1 safety of electrical machines 27
storage 37
storage temperature 109
strip seal 25, 85
guide 25
installation 76
removal 74
strip seal installation 76
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
133
Index
T
temperature
max carriage 12
operating range 29
thermistor 110
tools for
maintenance 70
travel limits 63
troubleshooting
ball screw 83
carriage not moving 88
direct drive 83
error code
E04 82
E05 87, 88
E07 82, 86
E11 82
E19 85, 88
E20 86
E22 85, 88
E23 85, 88
intermittent E04 86
134
intermittent E07, E11, E20 85
excess carriage play 88
hookup tab 82
operational errors 82
SERCOS initialization 82
startup errors 82
tuning
home-to-torque for Kinetix drives 123
Kinetix drive system 56
U
unpacking 34
V
vertical installation 12
vibration 29, 109
Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
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